Agriculture Reference
In-Depth Information
Kondo and Ting (1998). The Kubota robot had an articulated arm with 4 DOF, but
acted as a spherical coordinate robot because of the joint actuation schemes. Figure
7.25 shows the articulated arm of this robot that utilized an end effector with rotating
stem-cutters equipped with a color TV camera and a light source.
A fruit harvesting manipulator development for greenhouse tomatoes was
reported by Balerin et al. (1991), as shown in Figure 7.26. The two manipulator con-
figurations used were a 6-DOF industrial arm and a 3-DOF spherical arm with two
rotational joints and a telescopic joint. The joints were driven by electric motors and
mounted over a mobile platform along with the camera equipment used for visual
sensing. A rotating suction cup served the purpose of an end effector.
θ
2
Link 3
Link 2
θ
3
θ
4
θ
1
Link 4 (hand)
FIGURE 7.25
θ
4
represent the 4 DOF. (From Sarig, Y.,
J. Agric.
Eng. Res.
, 54, 4, 265-280, 1993. With permission.)
Kubota arm:
θ
1
,
θ
2
,
θ
3
, and
(a)
(b)
FIGURE 7.26
Greenhouse tomato harvesting robot. (a) Six DOF, (b) Three DOF. (From
Barelin, S.,
Proc. 1991 Symp. Automated Agriculture for the 21st Century
, ASAE, St. Joseph,
MI, 236-244, 1991. With permission.)
