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JRM Vol.25 No.4 pp. 705-717
doi: 10.20965/jrm.2013.p0705
(2013)

Paper:

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Design, Modeling and Performance Testing of End-Effector for Sweet Pepper Harvesting Robot Hand

Shivaji Bachche and Koichi Oka

Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada, Kami City, Kochi 782-8502, Japan

Received:
September 4, 2012
Accepted:
April 18, 2013
Published:
August 20, 2013
Creative Commons License
Keywords:
gripper, cutting tool, gripper model, sweet pepper harvesting robot, gripper simulation
Abstract
This paper presents a new design and modeling fundamentals of gripper and cutting system for 5 degree of freedom robotic arm, designed to harvest sweet peppers in horticultural green house. The design consists of two parallel jaws mounted on gears and operated with the help of servo motor. The same servo motor was used to operate the cutting system which was composed of scissors. The complete system was designed to operate by using one servo motor only. The system model was developed in SolidWorks and tested for different kinematic and dynamic performances. The performance of the gripper and cutting tool system has been evaluated through simulation to determine the design parameters of practical prototype. Based on the design concept, practical prototype of the gripper and cutting system was developed by considering the results obtained by model developed in SolidWorks. The developed prototype was tested to verify the feasibility and reliability of the model developed in Solid-Works. The performance and practical application of the developed prototype was verified and validated by conducting experiments in the lab and greenhouse and comparing the results with simulation results.
Cite this article as:
S. Bachche and K. Oka, “Design, Modeling and Performance Testing of End-Effector for Sweet Pepper Harvesting Robot Hand,” J. Robot. Mechatron., Vol.25 No.4, pp. 705-717, 2013.
Data files:
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