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http://dx.doi.org/10.5307/JBE.2004.29.3.281

The End-effector of a Cucumber Robot  

민병로 (Dept. of Bio-Mechatronic Engineering, SungKyunKwan University)
이대원 (Dept. of Bio-Mechatronic Engineering, SungKyunKwan University)
Publication Information
Journal of Biosystems Engineering / v.29, no.3, 2004 , pp. 281-286 More about this Journal
Abstract
The end-effector is the one of the important factors on development of the cucumber robot to harvester a cucumber. Three end-effectors were designed the single blade end-effector with one blade, the double blade end-effector with two blades and the triple blade end-effector with three blades. Performance tests of the end-effector, the fully integrated system, were conducted to determine the cutting rate by using two different kinds of cucumber. The success rates of cucumber cutting ratio of single end-effector, double end-effector and triple end-effector in laboratory. were 61.7%, 95%, 86.7%, respectively. The cutting rate of single blade or double blade was a little difference with respect to the different diameters of cucumber stem. However, the success cutting rate of the end-effector with triple blade was 61.7% under 29mm diameter of a grabbing stem section. The triple end-effector was not suitable for harvesting a cucumber, but was considered to be suitable for harvesting a grape, an apple and a tomato. The success rate of cucumber cutting ratio of triple end-effectors in greenhouse was 84%. The failure cutting rate was 16% which are due to abnormal shape of cucumber fruit.
Keywords
End-effector; Important factors; Cucumber; Cucumber robot; Cutting rate.;
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