Abstract
In this paper, the stem-cutting device using an iris mechanism was proposed. This cutting device was designed to cut the stem of tomato on the cinch bag-typed robotic gripper. The required motor speed and torque for the proposed stem-cutting device were determined based on the gear ratio and the rigid body dynamics. In stem-cutting experiments, the device successfully cuts the given stems in 1.3s by folding three circular blades. The obstacle-overcoming performance demonstrated with actual fruits indicated that the expanded cover components could effectively push away surrounding fruits while avoiding damage to both the target fruit and its surroundings.
| Original language | English |
|---|---|
| Pages (from-to) | 1221-1226 |
| Number of pages | 6 |
| Journal | Journal of Institute of Control, Robotics and Systems |
| Volume | 30 |
| Issue number | 11 |
| DOIs | |
| State | Published - 2024 |
Keywords
- fruit harvesting end-effector
- iris mechanism
- stem-cutting mechanism