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

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Pubblicato in:Aerospace vol. 11, no. 3 (2024), p. 203
Autore principale: Park, Hanmin
Altri autori: Kang, Hyeongseok, Hwang, Bohyun, Seonggun Joe, Kim, Byungkyu
Pubblicazione:
MDPI AG
Soggetti:
Fruits
Torque
Unmanned aerial vehicles
End effectors
Servomotors
Flight simulators
Mechanical properties
Kinematics
Productivity
Pneumatics
Harvest
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Abstract: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
Fonte:Advanced Technologies & Aerospace Database