In the field of precision agriculture, the automation of sampling and harvesting operations plays a central role to expand the possible application scenarios. Within this context, this work presents the design and prototyping of a novel underactuated tool for the harvesting of autonomous grapevines. The device is conceived to be one of several tools that could be automatically grasped by a robotic manipulator. As a use case, the presented tool is customized for the gripper of the robotic arm mounted on the rover Agri.Q, a service robot conceived for agriculture automation, but it can be easily adapted to other robotic arm grippers. In this work, first, the requirements for such a device are defined, then the functional design is presented, and a dimensionless analysis is performed to guide the dimensioning of the device. Later, the executive design is carried out, while the results of a preliminary experimental validation test are illustrated at the end of the paper.

Design and Prototyping of an Interchangeable and Underactuated Tool for Automatic Harvesting / Quaglia, Giuseppe; Tagliavini, Luigi; Colucci, Giovanni; Vorfi, Ardit; Botta, Andrea; Baglieri, Lorenzo. - In: ROBOTICS. - ISSN 2218-6581. - ELETTRONICO. - 11:6(2022), p. 145. [10.3390/robotics11060145]

Design and Prototyping of an Interchangeable and Underactuated Tool for Automatic Harvesting

Giuseppe Quaglia;Luigi Tagliavini;Giovanni Colucci;Andrea Botta;Lorenzo Baglieri
2022

Abstract

In the field of precision agriculture, the automation of sampling and harvesting operations plays a central role to expand the possible application scenarios. Within this context, this work presents the design and prototyping of a novel underactuated tool for the harvesting of autonomous grapevines. The device is conceived to be one of several tools that could be automatically grasped by a robotic manipulator. As a use case, the presented tool is customized for the gripper of the robotic arm mounted on the rover Agri.Q, a service robot conceived for agriculture automation, but it can be easily adapted to other robotic arm grippers. In this work, first, the requirements for such a device are defined, then the functional design is presented, and a dimensionless analysis is performed to guide the dimensioning of the device. Later, the executive design is carried out, while the results of a preliminary experimental validation test are illustrated at the end of the paper.
2022
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2973783