Design and Testing of an End-Effector for Tomato Picking

Based on the structural shortage of an agricultural labor force and continuous increase in tomato planting scale China, as well limitation a greenhouse working environment development picking productivity, motor-driven end-effector for robot based hybrid force/position control strategy was designed. First, applied to process. Consistent with this strategy, mechanical structure design determined. The maximum torque finger joint motor verified by applying load fingertip under parabolic linear angular velocity. Second, D-H method used establish single-finger whole-hand coordinate systems perform forward inverse kinematic analysis. Monte Carlo analyze workspace end-effector, isochronous interpolation algorithm displacement motor. A basic starting, stopping accelerating joints designed achieve smooth movement end-effector. system STM32F103ZET6, remote wireless debugging Tiny6410. Finally, test prototype manufactured tests were conducted, which showed that our moved smoothly. proposed reduced impact recorded contact between real time, essentially achieved nondestructive picking. Therefore, demonstrated good utility practice.