This paper cover a prototyping process of a composite 6-DOF robot harvester with telescopic robot arm for plum farmyards. It is a fully autonomous robotic system, which purpose is to replace human labor inside the field. Hence the mechanism is designed to replicate human motion in harvesting process. The composite robot consists of 3DOF Cartesian robot together with added a 3DOF telescopic robot arm with a customized gripper. Robot is designed in the form of a telescope that enables the extraction and retracting motion that has a specially designed, task-oriented end-effector. The telescopic robot arm is placed on the linear guide rail Cartesian robot. The first three joints are linear and intended to reach position. The last three joints are cylindrical and define orientation of the gripper. This robot configuration enables, initially, swift positioning in the fruit neighborhood, and then fine adjustment of the gripper orientation for the final process of cutting off the fruit and harvesting. The fruit harvester was designed in such a way that the plum is carried by robot arm to storing crates and put inside a specified spot.
Prototyping of Robot Harvester for Plum Farmyards – Mechanical Design
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2023 ; Bled, Slovenia June 14, 2023 - June 16, 2023
2023-05-27
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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