Design and Experimentation of a Spin-twist Fruit Picking Actuator with Integrated Drive Control
A bus-expandable drive-controlled spin-twist picking end-effector had been designed to support the develop-ment of a multi-arm parallel picking robot for intelligent harvesting operations in orchards.Based on the statistical analy-sis of the physical morphology of standard apple trees and the manual picking method,a picking machine operation meth-od of"adsorption-clamping-twisting"was proposed.A compact picking actuator based on a double servo drive was designed and the key parameters of the suction,clamping and screwing motors were optimised.A CANopen communica-tion-based picking actuator was designed for the parallel picking of multiple actuators,enabling the bus extension of mul-tiple actuators.The performance of the hand jaws was tested in field trials,with a picking success rate of 90%for fruit sizes between 60 mm and 100 mm,and an optimum dwell time of 1.00 s for the suction cups,an optimum approach dis-tance of 1.00 mm for the suction cups and an optimum screwing angle of 360°.
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