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Design of robotic gripping and cutting system for sweet pepper harvesting
( Aye Aye Thet ),( Yong-tae Kim ) 한국농공학회 2018 한국농공학회 학술대회초록집 Vol.2018 No.-
Automation is one of the most important operations for every fields .Today, agricultural field is gradually tend to automation .This study represents a suitable design and modeling basic gripper and cutter for harvesting horticulture fruits. This research is aimed for labor reduction, cost saving, less damages etc.; of farm products. Harvesting horticulture fruits like sweet pepper is a time-consuming, laborious task. Imagine if a robot could be designed that would not only know which sweet pepper is ready for picking and which isn’t, but would also have the ability to gently grasp the fruit and remove it from the stem without damaging the fruit.Firstly, the proposed modeling was selected appropriate design and the design have pin type gripper are driven with the aid of dynamixel servo motor .For cutting tool system which was composed of scissor, another dynamixel servo motor with the same power was applied to work .The parts of the system was drawn by Solidworks and consider and checked for various actions and printing the sketched modeling by using 3D printer. Designing an autonomous gripper and cutter was accompanied by physical dimensions and parameters. Based on the design concept,the actual prototype of the gripping and cutting tool system must be tested in field condition. This study can support in agricultural field to substitute the reduction of labor, cost saving, less damages of horticulture fruits.
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