A Multi-Sensory End-Effector for Spherical Fruit Harvesting Robot

摘要：

An end-effector for spherical fruit harvesting robot was developed.This end-effector is a multi-sensory one that is universal for spherical fruit such as tomatoes,apples and citrus.It performs fruit singulation with a vacuum suction pad device,fruit gripping and peduncle locating with a two-finger (an upper finger and a lower finger)gripper and peduncle cutting with a laser cutting device.In order to percept sufficient information of the internal state,harvesting object and environment,different types of sensors are configured, including a vacuum pressure sensor,distance sensors, proximity sensors and force sensors.An open architecture of control system based on IL+DSP is adopted,which is more open,flexible,universal and lighter to be more suitable for a mobile harvesting robot and end-effector.

关键词： End-effector Harvesting robot Multi-sensory Spherical fruit

作者: Jizhan Liu Pingping Li Zhiguo Li

作者单位: Jiangsu Provincial Key Laboratory of Modern Agricultural Equipment and Technology Institute of Agricultural Engineering Jiangsu University,Zhenjiang,Jiangsu 212013,China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）