Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
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Development of Hybrid Manipulator for Melon Harvesting Works

멜론 재배작업용 하이브리드 매니플레이터 개발

  • Kim, Y.Y. (National Institute of Agricultural Engineering) ;
  • Cho, S.I. (School, of Biosystems Engineering, Seoul National University) ;
  • Hwang, H. (Sungkyunkwan University) ;
  • Hwang, K.Y. (Graduate Student Biosystems Engineering, Seoul National University) ;
  • Park, T.J. (Graduate Student Biosystems Engineering, Seoul National University)
  • Published : 2006.02.01
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Abstract

Various robots were developed for harvesting fruits and vegetables. However, each robot was designed for a specific task such as harvesting apples or vegetables. This has been a big hurdle in application of robots to agriculture. A new type of hybrid manipulator with both parallel and serial joints was developed and designed to apply to various kinds of field operations. The hybrid manipulator had 2 extra degree of freedom in serial joints which made it flexible in switching one to the other type of hybrid manipulator, for example, PUMA to SCARA. And it was designed to harvest heavy fruits such as musky melons or water melons even behind leaves or branches of tree. This hybrid manipulator showed less than $\pm1mm$ position error. It was concluded that the hybrid manipulator was an effective and feasible tool to perform various works and to increase working performance.

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References

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