Harvesting Robot Based on Physical Properties of Grapevine

JARQ : Japan Agricultural Research Quarterly
ISSN 00213551
書誌レコードID(総合目録DB) AA0068709X

Grapevine in usually planted in adopting a trellis training system in Japan. It is considered that this training system is more suitable for robot harvesting than the other training systems, since the bunches which hang down from the trellis are exposed and can be easily detected and harvested. Before developing a robot, it is necessary to investigate the physical properties of the grape plant. Accordingly, a harvesting robot was developed experimentally to harvest individual bunches. The robot consisted of a 5 DOF manipulator, an end-effector which could grasp and cut rachis and could push a bunch, a visual sensor in which a TV camera and optical filters were used, and a crawler type traveling device. Based on the experimental results, is was observed that the robot could perform harvesting operations satisfactorily, because the design was based on the physical properties of the grape plant for the development of the robot

作成者 Naoshi KONDO
国立情報学研究所メタデータ主題語彙集(資源タイプ) Journal Article
開始ページ 171
終了ページ 177
言語 eng