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Design and Simulation of a Rope-Driven End-Effector for Tomato Picking Robot

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan

Citation:  2021 ASABE Annual International Virtual Meeting  2100324.(doi:10.13031/aim.202100324)
Authors:   Wei Zeng, Zenghong Ma, Pengcheng Wang, Xiaoqiang Du, Tengfei Shen, Chuanyu Wu
Keywords:   Rope-driven end-effector, Harvesting robot, Tomato, Mechanism design, Simulation.

Abstract. Tomato picking is a labor-intensive task. Manually picking tomatoes is not only time-consuming and laborious but also has a harsh working environment. Therefore, there is an urgent need for tomato picking robots to realize autonomous picking operations to reduce the labor required to pick tomatoes. The end-effector is an essential part of the tomato picking robot. To realize the accurate and reliable grasp of the fruit by the tomato picking robot, this paper designed the rope drive end-effector of the tomato picking robot. Based on the statistical data of the ripe tomato fruit shape, the size of the end-effector and the design of the grasping space is completed. Then based on the requirements of compact structure, the rope-driven mechanism of the end-effector was designed. A 3D model was built by SolidWorks and imported into ADAMS/View to complete the kinematics simulation of fruit grasping. The simulation results show that the end-effector meets the needs of the tomato picking robot.

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