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Robotic arm and gripper to pick fallen peaches in orchards

2022Journal article Restricted access
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dc.contributor.authorTavares, N.
dc.contributor.authorGaspar, Pedro Dinis
dc.contributor.authorAguiar, M.L.
dc.contributor.authorMesquita, Ricardo
dc.contributor.authorSimões, M.P.
dc.date.accessioned2023-01-16T15:08:47Z
dc.date.available2023-01-16T15:08:47Z
dc.date.issued2022
dc.description.abstractThe introduction of robotics in certain activities such as fruit harvesting, weed control, monitoring, spraying, soil handling, autonomous navigation, among others, contribute technologically to the sector efficacy and efficiency. The paper presents the design of a robotic gripper for picking up the fallen fruits located at the orchard ground at the end of the season, aiming to contribute for the sustainability of the agricultural processes. The prototype is coupled to a robotic platform's Cartesian manipulator. The technical specifications of the gripper were set through a decision matrix based on a literature review. The gripper was modeled three-dimensionally (3D) using computer-assisted design(CAD), leading to 3D printing model by polylactic acid (PLA) fused deposition modeling (FDM). The control, regulation and command of the gripper are accomplished by an Arduino microcontroller connected to end-switches to limit the work envelope, and to DC motors that carried out the Cartesian manipulation arm and gripper movements. Experimental tests were carried out to evaluate the performance of the gripper in picking fruits, depending on the inclination of the robotic platform and positions of the fruit (central and lateral). The experimental results allow to conclude that the robotic gripper fulfills the objectives for which it was developed.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationTAVARES, N. [et al.] (2022) - Robotic arm and gripper to pick fallen peaches in orchards. Acta Horticulturae, 1352, p. 567-574. DOI: 10.17660/ActaHortic.2022.1352.77pt_PT
dc.identifier.doi10.17660/ActaHortic.2022.1352.77pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.11/8285
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherISHSpt_PT
dc.relationPDR2020-101-031358pt_PT
dc.subjectRoboticspt_PT
dc.subjectAgriculturept_PT
dc.subjectRobotic gripperpt_PT
dc.subjectFruit pickingpt_PT
dc.subjectCartesian roboticarmpt_PT
dc.subjectPeachpt_PT
dc.subjectOrchardpt_PT
dc.titleRobotic arm and gripper to pick fallen peaches in orchardspt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage574pt_PT
oaire.citation.issue1352pt_PT
oaire.citation.startPage567pt_PT
oaire.citation.titleActa Horticulturaept_PT
person.familyNameGaspar
person.familyNameSimões
person.givenNamePedro Dinis
person.givenNameMaria Paula
person.identifier.ciencia-id6111-9F05-2916
person.identifier.ciencia-id5215-A196-0362
person.identifier.orcid0000-0003-1691-1709
person.identifier.orcid0000-0002-6599-0688
person.identifier.ridN-3016-2013
person.identifier.scopus-author-id57419570900
person.identifier.scopus-author-id36504886200
rcaap.rightsrestrictedAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationebfd94b1-21cd-4670-8626-e82f2b1c3436
relation.isAuthorOfPublicationc1c2eaaf-223e-4152-9245-04303ee41d75
relation.isAuthorOfPublication.latestForDiscoveryebfd94b1-21cd-4670-8626-e82f2b1c3436

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