Modeling and Force Analysis of a Harvesting Robot for Button Mushrooms

With the improvement of quality life, demands on button mushroom (Agaricus Bisporus) increase significantly. But traditional farming methods mainly rely costly human picking, which is currently facing time-consuming and labor-intensive problem. As machine vision technology becomes more mature, harvesting robot with flexible picking end-effector an alternative method to address this issue. Though conventional capable mushrooms but damage rate relatively high for improper force motion. Thus, a novel designed based vacuum negative pressure in paper. The proposed solve problem: 1) avoid injury when touch mushroom; 2) efficiency without increase. structure robotic described detail, then kinematic modeling analysis are presented. Lastly, numerical simulation via MATLAB carried out study influence parameters. bruise tests indicated that maximal allowable stress 0.196 MPa mean 13.82 N. Preliminary results demonstrate achieved 88.2% success 2.9% factory environment, there potential automatic robot.