Abstract

In this research, a robot pumpkin harvester was developed to solve the problem of lacking of labor force for harvesting pumpkins. A robot hand-eye system was developed to find and harvest the pumpkins. a color camera was utilized to capture the image from a field and a deep neural network (DNN) was adopted to find the fruits. The detection results were utilized to control the robot arm and robot hand to harvest the pumpkin. In this paper, the design of the robot hand will be introduced. The geometry size of the pumpkin was measured in field. The hand was developed to match the size of the pumpkin. In addition, the dimensions of each links were optimized in order reduced the force for harvesting the pumpkin. The torque requirement of the hand for harvesting the pumpkin fruit was calculated by using a dynamics simulation method.

Keywords

pumpkin, harvester, robot hand, kinematical model, dynamics simulation, deep neural network, optimized, torque, mechanical, automatic, harvesting, indispensable, green asparagus, grasp, industry