Design of a Crop Harvesting End Effector for the Robotic System used in the NASA JSC Biomass Production Chamber Wisconsin Center for Space Automation and Robotics, University of Wisconsin-Madison

Format:

Conference/Event

Author/Creator:

Duffie, Neil, author.

Conference Name:

International Conference On Environmental Systems (2003-07-07 : Vancouver, Canada)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2003

Summary:

This paper describes the design of a light-weight and compact robotic gripper for automated harvesting of crops, including vegetable crops such as tomatoes, cucumbers, green onion, radish, and lettuce, growing in biomass production chambers. Because these crops vary significantly in their shape, size and rigidity, the gripper features soft fingertips with embedded grasping force sensor, a two degree-of-freedom (DOF) parallel jaw to facilitate alignment with crop objects to be harvested, and a two-DOF parallel cutting device to ensure complete separation of crop objects from plants during harvesting. A microcontroller system is integrated into the gripper for control of grasping and cutting

Notes:

Vendor supplied data

Publisher Number:

2003-01-2598

Access Restriction:

Restricted for use by site license