Parameter Analysis and Experiment of Citrus Stalk Cutting for Robot Picking

Abstract

In order to provide the basis for the design and control of a citrus picking robot clamp and cutter, and find the optimal combination of cutting parameters, this study used a self-made citrus stem cutting test-bed to study the effects of the citrus stem diameter, blade cutting speed, blade cutting clearance, and tool sliding cutting angle on the peak cutting force of citrus stems through a single-factor experiment. Based on the single-factor test, the blade cutting speed, blade cutting clearance, and tool sliding angle are selected as the influencing factors, and a multi-factor test is carried out with the target of the peak cutting force, and the regression model is established. The results showed that the peak cutting force increased linearly with the diameter of the fruit stalk, decreased with the increase of the blade cutting speed and sliding cutting angle, and first decreased and then increased with the increase of the blade cutting clearance. Through the optimisation analysis of the regression model, it is found that the optimal cutting parameter combination is the blade cutting speed of 40 mm/min, blade cutting gap of 1 mm, tool sliding cutting angle of 20°, and the peak cutting force under this combination is 168.23 N. The deviation between the predicted value of the peak cutting force and the measured value is less than 2%, and the optimisation result of the cutting parameters is reliable. This study provides a theoretical basis for the optimal design and control of the clamping and cutting mechanism of the citrus picking robot.

Sliding Cutting and Cutting Parameters of Concentric Curvilineal Edge Sliding Cutter for Caragana korshinskii (C.K.) Branches

“…When the cutting clearance is small, the friction between the blade and the branch is intensified, and the service life of the blade is affected. When cutting clearance is large, the cutting force increases sharply [16,26]. As a result, the range of the cutting clearance was 0.1 to 3 mm, and four levels were set.…”

Multi-objective optimization of peak cutting force and cutting energy consumption in cutting of Caragana korshinskii branches

“…Due to the limitations of the test conditions, there is an operational risk when the v is high, so the v was taken as 0.2 to 0.8 m/s in the single-factor test of the v. In other groups of tests, the v was taken as 0.4 m/s. When the c is small, the friction between the tool and the branch intensifies and affects the service life of the tool (Kang et al 2020;Xiao et al 2021). When the c is large, the cutting force increases sharply.…”

End-Effectors Developed for Citrus and Other Spherical Crops

“…For example, the 10-degree-of-freedom under-driven three-finger hand [21][22][23][24][25][26][27][28][29][30] developed by Gosselin's group at Laval University in Canada, which is the international leader in the under-driven multi-finger hand control, uses only two motors, one motor is responsible for the grasping opening and closing motion of three fingers, and the other motor completes the finger steering. Rodriguze et al, developed a 15-degree-of-freedom single-motor-driven multi-finger hand, which can achieve safe and reliable grasping without any sensors and feedback control [31].…”