Abstract
Agricultural grippers used for harvesting tomatoes are analyzed. The related works and technical means implemented for end-effectors are investigated to identify the requirements for a suitable gripper. Various types of clam** and removing methods for designing end-effectors are used in modern prototypes. Some failure cases, when harvesting tomato using plucking method, are discussed. Advancement of vacuum suction nozzles, selection of diameter and suction force, rotation and movement of the end-effector on the success rate are described. Based on the analysis of existing end-effectors, various types of tomatoes processing methods, advancement of vacuum gripper the four-finger mechanical module with a built-in vacuum module were developed for tomato picking.
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Vu, Q., Ronzhin, A. (2020). A Model of Four-Finger Gripper with a Built-in Vacuum Suction Nozzle for Harvesting Tomatoes. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_13
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DOI: https://doi.org/10.1007/978-981-13-9267-2_13
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