Picking dynamic analysis for robotic harvesting of Agaricus bisporus mushrooms

Button mushrooms (Agaricus bisporus) are picked by hand individually, which is time consuming and labor intensive. Robotic harvesting an alternative method to address this issue. Picking force motion critical for developing effective robotic mushroom picking end-effector. Mushrooms typically growing in a cluster. Conventional manual comprises combination of twisting, bending, lifting. To find simple harvesting, series tests were conducted compare the among conventional three simplified methods, i.e., A sensor system was developed measure with sensors inertial measurement unit (IMU). The results showed that required most orientation changes detach mushroom, could generate complexity designing end-effector equivalent dexterity. bending least compared other operation time, detachment angle, peak 0.9 ± 0.5 s,13.6 6.7°, 3.3 2.4 N respectively. vacuum then designed evaluated methods. evaluation also indicated achieved best performance, rate 100% these target mushrooms, especially clustered ones. can be further improved automatic future.