Design and development of a multi-stage variable stiffness flexible end-effector for selective harvesting of Agaricus bisporus

文献类型： 外文期刊

第一作者： Han, Ruiqing

作者： Han, Ruiqing;Zhong, Ming;Liu, Yan;Huang, Bo;Yao, Yufeng;Liu, Yaxin;Chai, Xiujuan

作者机构：

关键词： Agaricus bisporus; Automated picking; Picking end-effector; Flexible suction cup; Field evaluation

期刊名称：COMPUTERS AND ELECTRONICS IN AGRICULTURE （ 影响因子：8.9； 五年影响因子：9.3 ）

ISSN： 0168-1699

年卷期： 2025 年 238 卷

页码：

收录情况： SCI

摘要： This study developed a flexible variable stiffness end-effector with a multi-stage telescopic structure to address the challenge of harvesting densely clustered and inclined Agaricus bisporus in confined spaces. The end-effector, designed based on a twisting harvesting action, achieves extension and retraction through the coordinated movement of multiple plates, with a maximum extension ratio of approximately 1:3. This enables harvesting and transportation tasks to be performed in tight spaces. Subsequently, a flexible variable stiffness suction cup was designed, and a mechanical model for the harvesting process was established. Key performance factors for the flexible suction cup were identified, including contact area, contact force, and effective suction area. Structural optimization and harvesting effect simulations were conducted through simulation analysis based on these factors. Experiments were performed using Agaricus bisporus models in a laboratory to precisely control the size and tilt angle of the harvesting targets, minimize interference, and ensure accuracy. These experiments evaluated the influence of different inner cavity stiffness and central cavity negative pressure on the pull-out force, leading to the selection of optimal operating parameters. Additionally, the suction performance of the optimized suction cup on Agaricus bisporus models with tilt angles ranging from 0 to 40 degrees was tested. Finally, field harvesting trials were conducted using the designed end-effector on actual Agaricus bisporus. The success rates for harvesting Agaricus bisporus under varying growth conditions were as follows: 97.5 % (dispersed, 0-10 degrees), 92.5 % (dispersed, 10-20 degrees), 92.5 % (dispersed, 20-30 degrees), 85 % (dispersed, 30-40 degrees), 94.8 % (dense, 0-10 degrees), 89.7 % (dense, 10-20 degrees), 83.3 % (dense, 20-30 degrees), and 81.8 % (dense, 30-40 degrees). The average time to harvest a single mushroom was 4.3 s, with a damage rate of 2.1 %. The end-effector demonstrated high harvesting efficiency and low damage rates for densely clustered and inclined Agaricus bisporus in confined spaces, providing crucial hardware support for developing automated Agaricus bisporus harvesting machinery.

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