Azala

A Fruit Harvesting Mechanism Capable of Multidimensional Movements: A Preliminary Study on the Integrated Mechanism with a Hexacopter

Gorde:
Argitaratua izan da:Aerospace vol. 11, no. 3 (2024), p. 203
Egile nagusia: Park, Hanmin
Beste egile batzuk: Kang, Hyeongseok, Hwang, Bohyun, Seonggun Joe, Kim, Byungkyu
Argitaratua:
MDPI AG
Gaiak:
Fruits
Torque
Unmanned aerial vehicles
End effectors
Servomotors
Flight simulators
Mechanical properties
Kinematics
Productivity
Pneumatics
Harvest
Sarrera elektronikoa:Citation/Abstract
Full Text + Graphics
Full Text - PDF
Etiketak: Etiketa erantsi
Etiketarik gabe, Izan zaitez lehena erregistro honi etiketa jartzen!
Laburpena:This study introduces a fruit harvesting mechanism powered by a single motor, designed for integration with unmanned aerial vehicles (UAVs). The mechanism performs reciprocating motion by converting linear motion into rotational motion. Consequently, the end-effector can execute multi-dimensional kinematic trajectories, including biaxial and rotational movements, synchronized with the motor’s position. These axial and rotational motions facilitate the gripper’s ability to reach, retrieve, and detach fruit from branches during the harvesting process. Notably, a critical consideration in designing this fruit harvesting mechanism is to generate the necessary torque at the end-effector while minimizing reaction forces and torque that could destabilize the UAV during flight. With these considerations in mind, this preliminary study aimed to harvest a Fuji apple and conduct a dynamic analysis. We constructed a prototype of the single motor-driven fruit harvesting mechanism using a suitable servo motor. To assess its mechanical performance and evaluate its impact on the hexacopter, we developed both a specific test platform featuring a six-spherical-prismatic-spherical parallel structure and a virtual environmental flight simulator. Overall, the results demonstrate the successful harvesting of a Fuji apple weighing approximately 300 g by the single motor-driven fruit harvesting mechanism, with no adverse effects observed on the hexacopter’s operation.
ISSN:2226-4310
DOI:10.3390/aerospace11030203
Baliabidea:Advanced Technologies & Aerospace Database