The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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The Design and Evaluation of The Stem-cutting Device of Harvesting Gripper Using Twisted String Actuation System

줄 꼬임 구동을 이용한 수확용 그리퍼의 줄기 절단 장치 설계 및 검증

  • Seong-Mo Choi (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Dongwoo Lee (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Myun Joong Hwang (Department of Mechanical and Information Engineering, University of Seoul)
  • Received : 2024.03.02
  • Accepted : 2024.06.13
  • Published : 2024.08.30
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Abstract

This paper presents a novel stem-cutting device using a twisted string actuation system combined with the cinch bag-typed gripper proposed in previous research. The suggested cutting device was developed to cut the stem of a tomato using two motors. The relationship between contact time and motor angle was mathematically induced, and the contacting time was verified through the experiments. The contact time has decreased as the offset of each pair of strings at the disk increases. The contact time and its deviation were reduced by increasing the radius of the twisted string bundle, and the motor torque to exert an equivalent cutting force was surged at the same time. The proposed cutting mechanism with 16 strands of twisted string bundle and 40 mm of offset can cut the given tomato stems and stalks, exerting up to 132.4 N of cutting force in 4.6 to 6.5seconds.

Keywords

Acknowledgement

This work was supported by Korea Institute of Planning and Evaluation for Technology in Food, Agriculture and Forestry (IPET) through Smart Farm Innovation Technology Development Program, funded by Ministry of Agriculture, Food and Rural Affairs (MAFRA) (421031-04).

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