论文标题
花梗抓地力和切割力，用于草莓收集机器人最终效果设计
Peduncle Gripping and Cutting Force for Strawberry Harvesting Robotic End-effector Design
论文作者
论文摘要
在最近的过去，对草莓的机器人收获引起了很多兴趣。尽管有很多创新，但它们尚未达到与人类专家采摘者相当的水平。末端效应单元在定义这种机器人收获系统的效率方面起着重要作用。即使有关于草莓收集的各种最终效应子的报道，但是在某些情况下，研究人员可以依靠这些参数来开发新的最终效应子。这些参数包括可以在花梗上施加的抓地力的极限，以有效地抓握，切割草莓花梗所需的力等等。这些估计在靶向的最终效应器的设计周期中会有所帮助，这些估计在收获动作过程中瞄准和切割草莓花梗。本文通过实验研究了这些参数的估计和分析。据估计，花梗握把的力量可以限制为10N。这使最终效应器能够抓住高达50克的草莓，而操纵加速度为50 m/s $^2 $，而无需挤压花梗。关于花梗切割力的研究表明，15 n的力足以在30度方向上使用楔形角度为16.6度的刀片切割草莓花梗。
Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven't yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in defining the efficiency of such a robotic harvesting system. Even though there are reports on various end effectors for strawberry harvesting, but there they lack a picture of certain parameters that the researchers can rely upon to develop new end effectors. These parameters include the limit of gripping force that can be applied on the peduncle for effective gripping, the force required to cut the strawberry peduncle, etc. These estimations would be helpful in the design cycle of the end effectors that target to grip and cut the strawberry peduncle during the harvesting action. This paper studies the estimation and analysis of these parameters experimentally. It has been estimated that the peduncle gripping force can be limited to 10 N. This enables an end effector to grip a strawberry of mass up to 50 grams with a manipulation acceleration of 50 m/s$^2$ without squeezing the peduncle. The study on peduncle cutting force reveals that a force of 15 N is sufficient to cut a strawberry peduncle using a blade with a wedge angle of 16.6 degrees at a 30-degree orientation.
