您好，欢迎访问新疆农业科学院 机构知识库！
新疆农业科学院机构知识库

全部

  • 全部
  • 标题
  • 学者
  • 机构
  • 关键词

Fruit detachment force of multiple varieties kiwifruit with different fruit-stem angles for designing universal robotic picking end-effector

文献类型： 外文期刊

作者： Fang, Wentai 1 ; Wu, Zhenchao 1 ; Li, Weiwu 1 ; Sun, Xiaoming 1 ; Mao, Wulan 1 ; Li, Rui 1 ; Majeed, Yaqoob 6 ; Fu, Longsheng 1 ;

作者机构： 1.Northwest A&F Univ, Coll Mech & Elect Engn, Yangling 712100, Shaanxi, Peoples R China

2.Minist Agr & Rural Affairs, Key Lab Agr Internet Things, Yangling 712100, Shaanxi, Peoples R China

3.Shaanxi Key Lab Agr Informat Percept & Intelligent, Yangling 712100, Shaanxi, Peoples R China

4.Northwest A&F Univ, Shenzhen Res Inst, Shenzhen 518000, Guangdong, Peoples R China

5.Xinjiang Acad Agr Sci, Inst Agr Mechanizat, Urumqi 830000, Peoples R China

6.Univ Agr Faisalabad, Fac Agr Engn & Technol, Faisalabad 38000, Pakistan

关键词： Multiple varieties kiwifruit; Fruit holding device; Fruit detachment force; Fruit -stem angles; Picking robot

期刊名称：COMPUTERS AND ELECTRONICS IN AGRICULTURE （ 影响因子：8.3； 五年影响因子：8.3 ）

ISSN： 0168-1699

年卷期： 2023 年 213 卷

页码：

收录情况： SCI

摘要： Fruit detachment force (FDF) between fruit and stem, is one of the important physical parameters for designing fruit picking robot. Orchards planted with multiple varieties kiwifruit generally exist in China because of their rich variety resources. FDFs at different fruit-stem angles (FSA) for multiple varieties kiwifruit make it difficult for the fruit picking robot to maintain optimal working conditions for different varieties. Determining the FDF of a single variety is not suitable for developing a universal end-effector that enables fruit picking of multiple varieties kiwifruit. Therefore, it is necessary to measure the FDF of multiple varieties kiwifruit at different FSA. In this study, a special fixture was developed based on external characteristics of fruit, which was installed on the texture analyzer to form a platform for measuring the FDF with different FSA. Fruits of different variety with stems hand-picked, i.e. 'Hayward', 'Xuxiang', 'Huayou', 'Cuixiang' and 'Qinmei', were measured for FDF at FSAs of 180 degrees, 160 degrees, 140 degrees, 120 degrees, 100 degrees, 80 degrees, and 60 degrees. Computer-controlled texture analyzer led screw drives the lifting bracket to rise for realizing the detachment of the stem and fruit. FSAs corresponding to the minimum FDF of both 'Qinmei' and 'Cuixiang' were 80 degrees, while those of other three varieties were 60 degrees. The FDF at the FSA of 180 degrees was smaller compared of the FSA of 160 degrees for 'Hayward' and 'Cuixiang'. Additionally, the stem breakage occurred when the FDF of 'Xuxiang' was measured at the FSAs of 180 degrees or 160 degrees. These results have potential to provide guidance for designing a universal robotic picking end-effector for multiple varieties kiwifruit.

  • 相关文献
作者其他论文 更多>>
置顶
购物车
反馈

© 京ICP备09089781号-29 主办单位：新疆农业科学院

学术资源： 中国农业科学院 农业专业知识服务系统 农科联盟资源共建共享平台 中国农业科技文献与信息服务平台 中国农业期刊集成服务平台