로봇 포도수확기를 위한 엔드이펙터 개발 = Development of an End-Effector for Robotic Grape Harvester

다국어 초록 (Multilingual Abstract)

Most of fruits need laboring greatly to harvest fruit in the period of harvest season. Grape also needs requiring a lot of labor to harvest in time, since harvesting of grape is cut and graped by hand. At abroad, especially, a harvester of grape, which is not eat freshly raw grape fruit but is processed to be made wine, was developed in France. However, a harvester of grape which can eat freshly raw grape fruit haven't not been developed. Therefore, this study was designed and constructed to develope an end effector of the robotic harvesting system.
In order to find average and standard deviation of size and shape of a bunch grape, the grape farm was visited and investigated to find out the important factors for end effector to be designed and built. The efficient end-effecter should reach very well a bunch of grape without touching obstacles, such as leaf and stem in the grape vine. Also, it was made as simple, small and light as possible. Therefore, It was made of duralumin, which was lighter material than iron, to reach easily fresh grape fruit and reduce a torque. After finding the optimum initial speed, slew speed, ramp speed, the end effector proved to be a smooth operating end effector. For verifying efficiency of the end-effecter, the control board was designed and manufactured, and also developed the software to control the motors of the end effector.

목차 (Table of Contents)

• Ⅰ. 서 론
• Ⅱ. 문헌개요
• Ⅲ. 재료 및 방법
• 1. 실험 재료
• 2. 실험장치
• 가. 시작기 제작
• 다. 절단부의 설계
• 라. 수납부
• 마. 제어장치
• 3. 작동방법
• 4. 실험 방법
• Ⅳ. 결과 및 고찰
• 1. 과경의 절단의 최적 RPM
• 2. 수납부의 어송부로의 전달
• 3. 엔드이펙터의 수확작업시 적합성
• Ⅴ. 요약 및 결론