Virtual Simulation of Fruit Picking Robot Based on Unity3D

Abstract

With the development of the fruit farming industry, there have been breakthroughs in both scale and harvesting requirements, and the resulting problem is that the demand of picking robot is more and more high, the function, cost and quality of the harvest and picking efficiency compared with the traditional manual operation mode with strong competitiveness for market, that is to say, in terms of cost cheaper, picking at a faster rate, and can avoid damage on the fruit in the process of picking. Therefore, in terms of mechanical structure design, the transmission accuracy and efficiency of the picking robot should be improved. At the same time, the structural design of the picking robot should simplify the structure as much as possible, reduce the manufacturing cost, and ensure the feasibility of the picking robot’s functions. Picking robot combined with automatic walking system, automatic detection system and control system-centered intelligent system, can achieve accurate and efficient work in various conditions. Realize picking robot toward automation, intelligence, scientific development. The design of this topic is mainly aimed at the development of the picking robot and the use of analysis, determine the feasibility of the picking robot design and virtual simulation.

A Smart robotic arm for harvesting olive fruits

“…The function used is MATLAB Fsolve (fun, x0) which solves nonlinear equations with multiple variables. Considering the loads on the manipulator, the static torque is defined as: 𝑆𝑡𝑎𝑡𝑖𝑐 𝑡𝑜𝑟𝑞𝑢𝑒 = 𝑚 * 𝑔 * 𝑑 * 𝑐𝑜𝑠(𝜃) (11) On the other hand, the dynamic torque is found by multiplying the angular acceleration by the moment of inertia. However, before calculating the dynamic torque, we need to specify the speed of every joint to find the angular acceleration.…”

“…Dynamic predictive scheduling was modeled by Peng and Vougioukas [10] for teams of robots carrying trays during manual harvesting by picking crew. The feasibility of a picking robot design was determined by Wang et al [11] using virtual simulation. A peduncle locking under-actuated harvester was simulated by Luo and Tan [12] using Adams software; the design is based on crank rocker mechanism, with fixed and floating plates used for fruit separation, and slider-crank mechanism used as handheld drive unit.…”

A Comprehensive Survey of the Recent Studies with UAV for Precision Agriculture in Open Fields and Greenhouses

“…In addition, the application of industrial developments and technology to agriculture makes production sustainable by enabling more careful farming [7]. Therefore, to date, robotic agricultural solutions have been proposed in various agricultural solutions, such as fruit harvesting [8], monitoring [9], loading and unloading of agricultural material [10], irrigation [11], fertilization [12], weed detection [13], automatic grafting [14] and sowing [15]. Most of these studies have been carried out on agricultural fields with suitable ground and structured environments using wheeled robots.…”

System for virtual simulation of robotic systems for agricultural purposes

“…Виртуальное моделирование на основе игровых движков Unity3D [4,5], Unreal Engine [6] позволяет создавать достаточно детализированные симуляции. Однако изначально они создавались для других целей, и процесс разработки виртуальной модели может занять много времени.…”