Design and Test of End-Effectors of Control System for White Asparagus Selective Harvesting Robot

摘要

In order to realize the selective harvesting of white asparaguses in the target area, this paper raise an end-effectors of control system for white asparagus selective harvesting robot. According to the novel designed the control system, 3 stepper motors for positioning, one stepper motor for cutting, and one steering gear for clamping to achieve precise positioning of the end-effectors and to complete the harvesting process including roots cutting, stem clamping and pulling out from soil. The harvesting control strategy is proposed for the case of multiple asparagus in the target area, and the optimal harvesting time function was constructed according to the system parameters. The precise operation of the white asparagus in the 550 mm × 400 mm area was achieved through experiments. Test results show that the end-effectors control system has stable positioning and flexible operation. The system X-axis positioning accuracy: ±0.2 mm, Y-axis positioning accuracy: ±0.2 mm, Z-axis positioning accuracy: ±0.3 mm, average single asparagus picking time reaches within 15 s.