Robotic arm and gripper to pick fallen peaches in orchards

article

Tavares, N.
Gaspar, P.D.
Aguiar, M.L.
Mesquita, R.
Simões, M.P.

ISHS

TAVARES, N. [et al.] (2022) - Robotic arm and gripper to pick fallen peaches in orchards. Acta Horticulturae, 1352, p. 567-574. DOI: 10.17660/ActaHortic.2022.1352.77

10.17660/ActaHortic.2022.1352.77

Robotic arm and gripper to pick fallen peaches in orchards

Robotics
Agriculture
Robotic gripper
Fruit picking
Cartesian roboticarm
Peach
Orchard

PDR2020-101-031358

2023-01-16T15:08:47Z
2023-01-16T15:08:47Z
2022

The introduction of robotics in certain activities such as fruit harvesting, weed control, monitoring, spraying, soil handling, autonomous navigation, among others, contribute technologically to the sector efficacy and efficiency. The paper presents the design of a robotic gripper for picking up the fallen fruits located at the orchard ground at the end of the season, aiming to contribute for the sustainability of the agricultural processes. The prototype is coupled to a robotic platform's Cartesian manipulator. The technical specifications of the gripper were set through a decision matrix based on a literature review. The gripper was modeled three-dimensionally (3D) using computer-assisted design(CAD), leading to 3D printing model by polylactic acid (PLA) fused deposition modeling (FDM). The control, regulation and command of the gripper are accomplished by an Arduino microcontroller connected to end-switches to limit the work envelope, and to DC motors that carried out the Cartesian manipulation arm and gripper movements. Experimental tests were carried out to evaluate the performance of the gripper in picking fruits, depending on the inclination of the robotic platform and positions of the fruit (central and lateral). The experimental results allow to conclude that the robotic gripper fulfills the objectives for which it was developed.
info:eu-repo/semantics/publishedVersion

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