Higher Efficient Fruit Robot with Improved End Effectors

Abstract

Under the situation that the technology level is improving recent year and the labor cost is increasing rapidly. In this paper, an autonomous harvesting robot with high efficiency is presented. The robot needs a fruit harvesting process with high obstacle avoidance efficiency for picking in complex and unstructured environments. In this research, the end-effector of the robotic arm picking process is optimized to reduce the number of times the fruit is crushed and to obtain the nearest moving trajectory to improve the picking efficiency. Therefore, the research topic of this paper is to optimize the picking method of the picking robot when performing picking operations. The following describes this paper's research methodology: first, the mechanical part of this harvesting robot is modeled, and then the most efficient way of the robot arm is found by analyzing the data of this model and combining it with the existing research. In this paper, it was found that changing the robotic arm's end-effector to a cylinder with a cutting blade would not only maximize the efficiency of the arm, but also ensure that the fruit would not be scratched. From this study, it was concluded that the end-effector can be customized to ensure efficient fruit picking according to the type of fruit and the approximate growth of the orchard fruit.