Design and co-simulation for tomato harvesting robots

Author

Jun, Wang ; Zhou, Zhou ; Xiaodong, Du

Author_Institution

Key Lab. of Machine Vision & Intell. Control Technol., Hefei Univ., Hefei, China

fYear

2012

fDate

25-27 July 2012

Firstpage

5105

Lastpage

5108

Abstract

A tomato harvesting robot consisting of a mobile vehicle, a manipulator, a vision system, an end-effector, a cutter and a control system is designed. Each module is described in detail. The manipulator is 4 DOF with one parallel linkage, which generate two directions´ motion. The harvesting robot performed the harvesting task based on machine vision servo system. A personal computer working as the host computer conducted the manipulator, the end-effector and the cutter. The viability and validity of the tomato harvesting robot was preliminarily confirmed by co-simulation for the electromechanical system.

Keywords

agricultural machinery; cutting tools; end effectors; industrial robots; mobile robots; robot vision; servomechanisms; control system; cutter; electromechanical system; end-effector; machine vision servo system; manipulator; mobile vehicle; parallel linkage; personal computer; tomato harvesting robot; Control systems; Joints; Machine vision; Manipulators; Robot kinematics; Robot sensing systems; 4 DOF; Design; Simulation; Tomato Harvesting Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6390826