Development of chrysanthemum cutting providing system for cutting sticking robot

摘要

In this paper, a chrysanthemum cutting providing system which individually separates cuttings and sends them to a cutting sticking robot is described to totally automate the cutting sticking operation. The system mainly consisted of a 5 DOFmanipulator, a water tank, and a monochrome TV camera. A bundle of cuttings was put into the water tank and was separated on waving water surface caused by a solenoid actuator and springs. Based on size, shape, and orientation of individual cuttingrecognized by the TV camera, the manipulator picked cuttings up one by one according to the order of degree of isolation From the experimental results, it was observed that the cuttings were transported with about 90% success rate.