Agriculture Reference
In-Depth Information
θ
-
η
Vacuum
grasper
Cameras
Elevator
and fruits
conveyor
FIGURE 7.23
MAGALI Apple Picking Arm developed by Grand D'Esnon et al. (From
Grand D'Esnon, A. et al.,
ASAE
, Paper No. 87-1037, 1987. With permission.)
Ultrasonics
End effector
Hooke joint assembly
Joint 0 servo-drive
Picking device
Camera
Axis Z0
Joint 2 aluminum tube
Nylon rack
Picking device cylinder
Joint 2 servo-drive
Joint 2 pinion gear
Ring bearing housing
Joint 1 servo-drive
Support stand
FIGURE 7.24
Citrus Picking Robot developed by Harrell et al. (From Harrell, R.C. et al.,
ASAE
, Paper No. 88-1578, 1988. With permission.)
