Deviation Tolerance Performance Evaluation and Experiment of Picking End Effector for Famous Tea

Yingpeng Zhu, Chuanyu Wu, Junhua Tong, Jianneng Chen, Leiying He, Rongyang Wang and Jiangming Jia
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Yingpeng Zhu: Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China
Chuanyu Wu: Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China
Junhua Tong: Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China
Jianneng Chen: Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China
Leiying He: Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China
Rongyang Wang: College of Mechanical and Electrical Engineering, Huzhou Vocational and Technical College, Huzhou 313000, China
Jiangming Jia: Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China

Agriculture, 2021, vol. 11, issue 2, 1-18

Abstract: Accurately obtaining the posture and spatial position of tea buds through machine vision and other technologies is difficult due to the small size, different shapes, and complex growth environment of tea buds. Therefore, end effectors are prone to problems, such as picking omission and picking error. This study designs a picking end effector based on negative pressure guidance for famous tea. This end effector uses negative pressure to guide tea buds in a top-down manner, thereby correcting their posture and spatial position. Therefore, the designed end effector has deviation tolerance performance that can improve the picking success rate. The pre-experiment is designed, the tip of apical bud is referred to as the descent position, and the negative pressure range is determined to be 0.6 to 0.9 kPa. A deviation tolerance orthogonal experiment is designed. Experimental results show that various experimental factors are ranked in terms of the significance level of the effect on the average success rate, and the significance ranking is as follows: negative pressure ( P ) > pipe diameter ( D ) > descent speed ( V ). An evaluation method of deviation tolerance performance is presented, and the optimal experiment factor-level combination is determined as: P = 0.9 kPa, D = 34 mm, V = 20 mm/s. Within the deviation range of a 10 mm radius, the average success rate of the negative pressure guidance of the end effector is 97.36%. The designed end effector can be applied to the intelligent picking of famous tea. This study can provide a reference for the design of similar picking end effectors for famous tea.

Keywords: famous tea; end effector; deviation tolerance; orthogonal experiment; evaluation method (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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