Izvorni znanstveni članak

https://doi.org/10.17559/TV-20250429002632

Design and Validation of a Rotational End-Effector with a Stalk-Bending and Separation Mechanism for Apple Harvesting

Jianguo Zhou ; College of Mechanical and Electronic Engineering, Northwest A&F University Institution, Yangling 712100, Shaanxi, China
Shiwei Wen ; College of Mechanical and Electronic Engineering, Northwest A&F University Institution, Yangling 712100, Shaanxi, China
Deyi Zhang ; College of Mechanical and Electronic Engineering, Northwest A&F University Institution, Yangling 712100, Shaanxi, China
Jun Chen ; College of Mechanical and Electronic Engineering, Northwest A&F University Institution, Yangling 712100, Shaanxi, China *
Yu Chen ; College of Mechanical and Electronic Engineering, Northwest A&F University Institution, Yangling 712100, Shaanxi, China
Guangrui Hu ; School of Design, Xi'an Technological University, Xi'an 710021, China

* Dopisni autor.

Sažetak

Traditional gripping end-effectors often damage fruit due to structural complexity and uneven force distribution. To overcome these limitations, this study proposes a rotational end-effector that safely separates the stalk from the branch through a bending action. First, the design scheme and operating principle were established based on harvesting requirements. A rotational harvesting strategy was then formulated using statistical data, notably an average stalk length of 21.98 ± 4.33 mm. Subsequently, a composite mechanical model was developed, which enabled the derivation of critical conditions for stalk separation through theoretical analysis. Next, finite element simulations were conducted to assess the bending effects and stress distribution, confirming the end-effectorꞌs capability to protect the appleꞌs surface. Finally, the end-effector was integrated into a harvesting robot and underwent extensive field experiments. Key parameters such as motor torque, motor speed, and opening width were optimized using response surface methodology (RSM). Under conditions of a 31.43 rpm motor speed, 6.22 N·m motor torque, and a 34.16 mm opening width, the theoretical harvesting success rate reached 90.17%, while the actual success rate was 89%, demonstrating a negligible discrepancy. These results indicate that the rotational end-effector effectively preserves apple quality and holds promising prospects for practical application.

Ključne riječi

apple harvesting; field packing experiments; finite element analysis; parameter optimization; rotational end-effector; stalk bending

Hrčak ID:

344986

URI

https://hrcak.srce.hr/344986

Datum izdavanja:

28.2.2026.

Posjeta: 173 *