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Challenges and Solutions in Designing an End-effector for Robotic Cotton Harvesting
Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.orgCitation: 2021 ASABE Annual International Virtual Meeting 2101125.(doi:10.13031/aim.202101125)
Authors: Hussein Gharakhani, J Alex Thomasson
Keywords: Agricultural robot, Cotton harvesting, Cotton picking, End-effector
A key component of a potential robotic cotton harvester is its end-effector. Multiple end-effector concepts were proposed and evaluated, and an optimal idea was selected for further development. Several prototypes and configurations of the selected concept were constructed and evaluated. The final prototype included 3-D printed fingers. Needles are attached to a timing belt and rotate around the finger. Increasing the number of fingers provided a superior multi-finger end-effector. A robotic test platform consisting of three linear actuators and a Jetson TX2 computer was designed to perform more tests on the end-effector. The end-effector was attached on the Z-axis. Testing showed that the end-effector could pick the seed cotton, but if it could move in three dimensions and rotate during operation, it could likely pick all the seed cotton from a cotton boll.(Download PDF) (Export to EndNotes)