Modeling and Force Analysis of a Harvesting Robot for Button Mushrooms
With the improvement of the quality of life, the demands on button mushroom (Agaricus Bisporus) increase significantly. But traditional farming methods mainly rely on costly human picking, which is currently facing the time-consuming and labor-intensive problem. As machine vision technology becomes...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9831195/ |
| _version_ | 1811223061654929408 |
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| author | Shuzhen Yang Jiancheng Ji Hongxia Cai Hao Chen |
| author_facet | Shuzhen Yang Jiancheng Ji Hongxia Cai Hao Chen |
| author_sort | Shuzhen Yang |
| collection | DOAJ |
| description | With the improvement of the quality of life, the demands on button mushroom (Agaricus Bisporus) increase significantly. But traditional farming methods mainly rely on costly human picking, which is currently facing the time-consuming and labor-intensive problem. As machine vision technology becomes more mature, harvesting robot with flexible picking end-effector is an alternative method to address this issue. Though the conventional harvesting robot is capable of mushrooms picking, but the damage rate is relatively high for the improper picking force and motion. Thus, a novel picking end-effector for button mushrooms is designed based on vacuum negative pressure picking in this paper. The harvesting robot with flexible end-effector is proposed to solve the problem: 1) to avoid the injury when the end-effector touch the mushroom; 2) to increase the picking efficiency without damage rate increase. The structure of robotic mushroom picking end-effector is described in detail, and then the kinematic modeling and picking force analysis of this robot are presented. Lastly, the numerical simulation via the MATLAB is carried out to study the influence of the robot parameters. The bruise tests indicated that the maximal allowable stress is 0.196 MPa and mean allowable pressure is 13.82 N. Preliminary results demonstrate that the robot achieved 88.2% success rate and 2.9% damage rate in the factory environment, and there is potential for the automatic mushroom harvesting with the proposed harvesting robot. |
| first_indexed | 2024-04-12T08:25:26Z |
| format | Article |
| id | doaj.art-8466a803edd5403c87823989218dfdae |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-12T08:25:26Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-8466a803edd5403c87823989218dfdae2022-12-22T03:40:23ZengIEEEIEEE Access2169-35362022-01-0110785197852610.1109/ACCESS.2022.31918029831195Modeling and Force Analysis of a Harvesting Robot for Button MushroomsShuzhen Yang0https://orcid.org/0000-0002-0294-668XJiancheng Ji1https://orcid.org/0000-0002-4401-1487Hongxia Cai2Hao Chen3School of Intelligent Manufacturing and Control Engineering, Shanghai Polytechnic University, Shanghai, ChinaChinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai, ChinaWith the improvement of the quality of life, the demands on button mushroom (Agaricus Bisporus) increase significantly. But traditional farming methods mainly rely on costly human picking, which is currently facing the time-consuming and labor-intensive problem. As machine vision technology becomes more mature, harvesting robot with flexible picking end-effector is an alternative method to address this issue. Though the conventional harvesting robot is capable of mushrooms picking, but the damage rate is relatively high for the improper picking force and motion. Thus, a novel picking end-effector for button mushrooms is designed based on vacuum negative pressure picking in this paper. The harvesting robot with flexible end-effector is proposed to solve the problem: 1) to avoid the injury when the end-effector touch the mushroom; 2) to increase the picking efficiency without damage rate increase. The structure of robotic mushroom picking end-effector is described in detail, and then the kinematic modeling and picking force analysis of this robot are presented. Lastly, the numerical simulation via the MATLAB is carried out to study the influence of the robot parameters. The bruise tests indicated that the maximal allowable stress is 0.196 MPa and mean allowable pressure is 13.82 N. Preliminary results demonstrate that the robot achieved 88.2% success rate and 2.9% damage rate in the factory environment, and there is potential for the automatic mushroom harvesting with the proposed harvesting robot.https://ieeexplore.ieee.org/document/9831195/Button mushroomharvesting robotsimulationdynamicsforce analysis |
| spellingShingle | Shuzhen Yang Jiancheng Ji Hongxia Cai Hao Chen Modeling and Force Analysis of a Harvesting Robot for Button Mushrooms IEEE Access Button mushroom harvesting robot simulation dynamics force analysis |
| title | Modeling and Force Analysis of a Harvesting Robot for Button Mushrooms |
| title_full | Modeling and Force Analysis of a Harvesting Robot for Button Mushrooms |
| title_fullStr | Modeling and Force Analysis of a Harvesting Robot for Button Mushrooms |
| title_full_unstemmed | Modeling and Force Analysis of a Harvesting Robot for Button Mushrooms |
| title_short | Modeling and Force Analysis of a Harvesting Robot for Button Mushrooms |
| title_sort | modeling and force analysis of a harvesting robot for button mushrooms |
| topic | Button mushroom harvesting robot simulation dynamics force analysis |
| url | https://ieeexplore.ieee.org/document/9831195/ |
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