Flexible pneumatic end-effector for agricultural robot: Design &amp; experiment

Bao, Guanjun; Yao, Pengfei; Cai, Shibo; Ying, Shenshun; Yang, Qinghua

doi:10.1109/robio.2015.7419096

Cited by 12 publications

(4 citation statements)

References 5 publications

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“…In this study, a new, and simple device was developed to measure electrical impedance for measuring tomato maturity. Currently, for sorting and picking tomatoes, the end effector mainly uses two picking methods: clip picking and rotary picking [21][22][23]. This study adoptseda rotary rubber pneumatic end effector for tomato sorting, as shown in Figure 2.…”

Section: Measurements Of Electrical Impedancementioning

confidence: 99%

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Design of a Tomato Sorting Device Based on the Multisine-FSR Composite Measurement

et al. 2023

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The ripeness of tomatoes is crucial to determining their shelf life and quality. Most of the current methods for picking and sorting tomatoes take a long time, so this paper aims to design a device for sorting tomatoes based on force and bioelectrical impedance measurement. A force sensor installed on each of its four fingers may be used as an impedance measurement electrode. When picking tomatoes, the electrical impedance analysis circuit is first connected for pre-grasping. By applying a certain pre-tightening force, the FSR sensor on the end effector finger can be tightly attached to the tomato and establish an electric current pathway. Then, the electrical parameters of the tomato are measured to determine its maturity, and some of the electrical parameters are used for force monitoring compensation. Then, a force analysis is conducted to consider the resistance of the FSR under current stress. According to the principle of complex impedance circuit voltage division, the voltage signal on the tomato is determined. At the same time, the specific value of the grasping force at this time is determined based on the calibration of the pre-experiment and the compensation during the detection process, achieving real-time detection of the grasping force. The bioelectricity parameters of tomatoes can not only judge the ripeness of tomatoes, but also compensate for the force measurement stage to achieve more accurate non-destructive sorting. The experimental results showed that within 0.6 s of stable grasping, this system could complete tomato ripeness detection, improve the overall tomato sorting efficiency, and achieve 95% accuracy in identifying ripeness through impedance.

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Section: Measurements Of Electrical Impedancementioning

confidence: 99%

“…The specific design and workflow of the device is as follows: On each of its Tomato fruits are relatively fragile, and using ordinary rigid claws can easily cause fruit breakage. Therefore, rubber pneumatic end effectors [21,22] are used to meet the physical conditions required for picking and sorting.…”

Section: Measurements Of Electrical Impedancementioning

confidence: 99%

Design of a Tomato Sorting Device Based on the Multisine-FSR Composite Measurement

et al. 2023

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“…Robotic applications in any form of maintenance, requires the integration of both the robotic functionality and its working environment, or in this case, for vertical gardens. Robotic technology can be sub-categorised into its system components or functionality such as manipulator mechanism [18], control [8], sensing techniques [19] and mobility [20]. In many cases, the environment in which the robot operates in dictates the way such system components are designed.…”

Section: Introductionmentioning

confidence: 99%

Design of Robot-Inclusive Vertical Green Landscape

Yeo

Samarakoon

et al. 2021

Buildings

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Vertical gardens have emerged alongside the increase in urban density and land scarcity to reintegrate greenery in the built environment. Existing maintenance for vertical gardens is labour-intensive, time-consuming and is being increasingly complemented by robotic applications. While research has been focused on enhancing robot design to improve productivity, minimal effort has been done on ‘design for robots’ in creating suitable environments for optimal robot deployments. This paper proposed a multi-disciplinary approach that brings together architects, designers, and roboticians to adapt the design of the vertical garden infrastructure to counteract the limitations of the maintenance robot. A case study on an existing plant maintenance robot ‘Urodela’ was conducted to determine the limitations encountered by robotic aid during operation. A robot-inclusive modular design for vertical gardens is proposed based on robot-inclusive principles, namely manipulability and safety, along with architectural design considerations. Design explorations for different configurations of track layouts of the proposed robot-inclusive modular design for vertical gardens is further analysed to validate its applicability and scalability.

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“…In addition to the end-effectors for harvesting, there are other types of continuum manipulator. 14–16 The driving methods of those structures could be typically summarized as pneumatic driven, 17 flexible stem driven 18 and cable driven. 19 And for rigid-flexible coupled robots, the kinematics analysis of the flexible part is the focus of research.…”

Section: Introductionmentioning

confidence: 99%

Kinematic accuracy of picking robot constructed by wire-driven continuum structure

Gao

Liu

Wang

2020

Proceedings of the Institution of Mechanical Engineers, Part E:

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This paper is to explore the motion accuracy of a novel picking robot constructed by wire-driven continuum structure and liner screw platform. The continuum structure features the hollow configuration, by which the object could be transported along its internal space, such as fruits harvesting. For discussing the precision theoretically and driving the presented robot, the kinematic model and workspace were established, also the instantaneous kinematics based on Jacobian matrix was analyzed. Further, the motion precision with different postures in the workspace were analyzed based on dexterity index by decomposing Jacobian matrix. Finally, as a typical tracking, the circular trajectory are deployed for demonstrating the theoretical modelling through the simulations and experiments in different region of workspace. The results of comparison of experiments and planned trajectories showed that the average error of the end point is about 2.538% with the proposed method by adjust the position of robot into a higher precise region, while without adjusting the robot's position, the average error of the end point reached 4.537%. The proposed method could be extended to a control strategy for rigid-flexible coupled robot.

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Flexible pneumatic end-effector for agricultural robot: Design & experiment

Cited by 12 publications

References 5 publications

Design of a Tomato Sorting Device Based on the Multisine-FSR Composite Measurement

Design of a Tomato Sorting Device Based on the Multisine-FSR Composite Measurement

Design of Robot-Inclusive Vertical Green Landscape

Kinematic accuracy of picking robot constructed by wire-driven continuum structure

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