In the field of precision agriculture, the automation of sampling and harvesting operations plays a central role to expand the possible application scenarios. Within this context, this work presents the design and prototyping of a novel underactuated tool for the harvesting of autonomous grapevines. The device is conceived to be one of several tools that could be automatically grasped by a robotic manipulator. As a use case, the presented tool is customized for the gripper of the robotic arm mounted on the rover Agri.Q, a service robot conceived for agriculture automation, but it can be easily adapted to other robotic arm grippers. In this work, first, the requirements for such a device are defined, then the functional design is presented, and a dimensionless analysis is performed to guide the dimensioning of the device. Later, the executive design is carried out, while the results of a preliminary experimental validation test are illustrated at the end of the paper.


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    Title :

    Design and Prototyping of an Interchangeable and Underactuated Tool for Automatic Harvesting



    Publication date :

    2022-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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