Burgers viscoelastic model-based variable stiffness design of compliant clamping mechanism for leafy greens harvesting

Zou, Liangliang; Yuan, Jing; Liu, Xuemei; Li, Jinguang; Zhang, Ping; Niu, Ziru

doi:10.1016/j.biosystemseng.2021.05.007

Cited by 16 publications

(9 citation statements)

References 22 publications

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“…(2 + ) = (10) Under external force, the deformations can be divided into three layers, namely an elastic element (i = 1), a set of parallel viscoelastic unit (i = 2) and a viscous element (i = 3). Based on the relationship between the contact force f (t) and the deformation response x(t) of the rootstock in each layer, the following equations are obtained [14,25]:…”

Section: Establishment Of a Creep Modelmentioning

confidence: 99%

“…The constitutive equation coefficients a 1 , a 2 , b 1 and b 2 can all be obtained from creep model parameters k 1 , k 2 , c 1 and c 2 , while the creep model parameters can be determined in creep tests by using the following equation [14,18].…”

Section: Establishment Of a Creep Modelmentioning

confidence: 99%

“…Although numerous studies have described structure optimization of the clamping mechanism for effective adaptive clamping, the physical properties of the clamped objects, especially vulnerable objects, are often ignored [14]. Agricultural crops, such as potatoes, apples and pears, usually have viscoelastic properties [15], with several studies typically applying the Maxwell, Kelvin-Voight and Burgers models to describe the viscoelastic behavior of these crops [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

“…For example, Zhang et al [19] optimized a tomato grasping system using creep tests based on Burgers model, followed by an analysis of the grasping process. Zou et al [14] proposed a rheological model for spinach plants based on the Burgers model and validated the stiffness adjustment capabilities of the clamping mechanism by simulation and experiments. Although these viscoelastic properties have been applied to fruits and vegetables, their application on plant stems has not been reported.…”

Section: Introductionmentioning

confidence: 99%

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Creep Modelling of Rootstock during Holding in Watermelon Grafting

Lou

et al. 2021

Agriculture

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The fragile structure of a rootstock predisposes the stem to mechanical damage during grafting. Thus, it is necessary to take into account the rootstock’s rheological properties under mechanical compression when designing a clamping mechanism. This study focused on cucurbit, a typical rootstock for watermelon grafting. Firstly, we adopted a four-element Burgers model to analyze viscoelastic behavior and deformation characteristics of the rootstock, then conducted creep tests to obtain the parameters of the viscoelastic model. Next, we developed a model for the rootstock during holding based on viscoelastic parameters, loading force and contact time. Moreover, we evaluated the effect of various loading forces and test velocities on creep deformation to reveal the least damage on the rootstock. Results showed that the influence of loading force on the creep deformation was greater than test velocity. Finally, the holding test indicated that the clamping mechanism with silicone rubber can effectively prevent the damage to the stem. Specifically, the loading force should be controlled below 4 N to reduce the associated damage. Taken together, our findings provide a theoretical basis for analyzing the holding damage mechanism during watermelon grafting.

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Section: Establishment Of a Creep Modelmentioning

confidence: 99%

Section: Establishment Of a Creep Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Creep Modelling of Rootstock during Holding in Watermelon Grafting

Lou

et al. 2021

Agriculture

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“…Xia et al [17] quantified the stress relaxation characteristics of the carrot by using the Maxwell model in order to analyze the impact damage of the carrot. Zou et al [18] investigated the stress relaxation characteristics of green leafy vegetables, focusing on spinach as a representative vegetable, and derived the stress relaxation characteristics under gripping conditions using the Burgers model. Therefore, the classical linear model such as Maxwell is suitable for fitting the stress dynamic relaxation characteristics of fruits and vegetables.…”

Section: Introductionmentioning

confidence: 99%

Design of Shiitake Mushroom Robotic Picking Grasper: Considering Stipe Compressive Stress Relaxation

Li,

Feng,

et al. 2024

Machines

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In order to realize the automatic picking of shiitake mushrooms and reduce the risk of damage to shiitake mushrooms in the picking process, this paper designed a shiitake mushroom picking grasper. First, this paper carries out mechanical tests of compression and stress relaxation on sections of shiitake mushroom stipes, and establishes the component stress relaxation equations of shiitake mushroom stipes. The compression mechanical characteristics of the entire mushroom stipe are then analyzed using finite element analysis, with a mean square error of less than 5% compared to actual results. Second, based on the actual picking experience, this paper proposes an “L”-shaped three-finger picking grasper, and analyzes the mechanical relationship between the grasper’s gripping force, twisting separation torque, and servo output torque. Furthermore, according to the mechanical constitutive model of mushroom stipes, the optimal twisting separation torque and corresponding servo motor output torque for the grasper are determined. The picking grasper designed in this paper was tested for picking mushrooms of different growth periods, and the test results show that the picking grasper designed in this paper is able to grasp and separate the mushrooms quickly and without damage.

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A systematic approach to obtain the analytical solution for linear second order ordinary differential equations: part I

Janczkowski Fogaça,

Lenz Cardoso

2024

J Braz. Soc. Mech. Sci. Eng.

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Burgers viscoelastic model-based variable stiffness design of compliant clamping mechanism for leafy greens harvesting

Cited by 16 publications

References 22 publications

Creep Modelling of Rootstock during Holding in Watermelon Grafting

Creep Modelling of Rootstock during Holding in Watermelon Grafting

Design of Shiitake Mushroom Robotic Picking Grasper: Considering Stipe Compressive Stress Relaxation

A systematic approach to obtain the analytical solution for linear second order ordinary differential equations: part I

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