Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation Requirements
The current harvesting arms used in harvesting robots are developed based on standard products. Due to design constraints, they are unable to effectively avoid obstacles while harvesting tomatoes in tight spaces. To enhance the robot’s capability in obstacle-avoidance picking of tomato bunches with...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-11-01
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| Series: | Plants |
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| Online Access: | https://www.mdpi.com/2223-7747/13/22/3211 |
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| _version_ | 1846152623109963776 |
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| author | Chuanlang Peng Qingchun Feng Zhengwei Guo Yuhang Ma Yajun Li Yifan Zhang Liangzheng Gao |
| author_facet | Chuanlang Peng Qingchun Feng Zhengwei Guo Yuhang Ma Yajun Li Yifan Zhang Liangzheng Gao |
| author_sort | Chuanlang Peng |
| collection | DOAJ |
| description | The current harvesting arms used in harvesting robots are developed based on standard products. Due to design constraints, they are unable to effectively avoid obstacles while harvesting tomatoes in tight spaces. To enhance the robot’s capability in obstacle-avoidance picking of tomato bunches with various postures, this study proposes a geometric parameter optimization method for a 7 degree of freedom (DOF) robotic arm. This method ensures that the robot can reach a predetermined workspace with a more compact arm configuration. The optimal picking posture for the end-effector is determined by analyzing the spatial distribution of tomato bunches, the main stem position, and peduncle posture, enabling a quantitative description of the obstacle-avoidance workspace. The denavit–hartenberg (D-H) model of the harvesting arm and the expected collision-free workspace are set as constraints. The compactness of the arm and the accessibility of the harvesting space serve as the optimization objectives. The Non-dominated Sorting Genetic Algorithm II (NSGA-II) multi-objective genetic algorithm is employed to optimize the arm length, and the results were validated through a virtual experiment using workspace traversal. The results indicate that the optimized structure of the tomato harvesting arm is compact, with a reachability of 92.88% in the workspace, based on the collision-free harvesting criteria. This study offers a reference for structural parameter optimization of robotic arms specialized in fruit and vegetable harvesting. |
| format | Article |
| id | doaj-art-26e1de3a565843f9b86be5de5a2587d9 |
| institution | Kabale University |
| issn | 2223-7747 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Plants |
| spelling | doaj-art-26e1de3a565843f9b86be5de5a2587d92024-11-26T18:18:57ZengMDPI AGPlants2223-77472024-11-011322321110.3390/plants13223211Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation RequirementsChuanlang Peng0Qingchun Feng1Zhengwei Guo2Yuhang Ma3Yajun Li4Yifan Zhang5Liangzheng Gao6College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi 830052, ChinaCollege of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi 830052, ChinaIntelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, ChinaIntelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, ChinaIntelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, ChinaIntelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, ChinaIntelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, ChinaThe current harvesting arms used in harvesting robots are developed based on standard products. Due to design constraints, they are unable to effectively avoid obstacles while harvesting tomatoes in tight spaces. To enhance the robot’s capability in obstacle-avoidance picking of tomato bunches with various postures, this study proposes a geometric parameter optimization method for a 7 degree of freedom (DOF) robotic arm. This method ensures that the robot can reach a predetermined workspace with a more compact arm configuration. The optimal picking posture for the end-effector is determined by analyzing the spatial distribution of tomato bunches, the main stem position, and peduncle posture, enabling a quantitative description of the obstacle-avoidance workspace. The denavit–hartenberg (D-H) model of the harvesting arm and the expected collision-free workspace are set as constraints. The compactness of the arm and the accessibility of the harvesting space serve as the optimization objectives. The Non-dominated Sorting Genetic Algorithm II (NSGA-II) multi-objective genetic algorithm is employed to optimize the arm length, and the results were validated through a virtual experiment using workspace traversal. The results indicate that the optimized structure of the tomato harvesting arm is compact, with a reachability of 92.88% in the workspace, based on the collision-free harvesting criteria. This study offers a reference for structural parameter optimization of robotic arms specialized in fruit and vegetable harvesting.https://www.mdpi.com/2223-7747/13/22/3211tomatoharvesting robotrobotic armstructural parameter optimizationcollision-free |
| spellingShingle | Chuanlang Peng Qingchun Feng Zhengwei Guo Yuhang Ma Yajun Li Yifan Zhang Liangzheng Gao Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation Requirements Plants tomato harvesting robot robotic arm structural parameter optimization collision-free |
| title | Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation Requirements |
| title_full | Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation Requirements |
| title_fullStr | Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation Requirements |
| title_full_unstemmed | Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation Requirements |
| title_short | Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation Requirements |
| title_sort | structural parameter optimization of a tomato robotic harvesting arm considering collision free operation requirements |
| topic | tomato harvesting robot robotic arm structural parameter optimization collision-free |
| url | https://www.mdpi.com/2223-7747/13/22/3211 |
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