Pressure-Stabilized Flexible End-Effector for Selective Picking of Agaricus bisporus

Kaixuan Zhao, Hongzhen Li, Jiangtao Ji, Qianwen Li (), Mengsong Li, Yongkang He, Jinlong Li and Suhe Xing
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Kaixuan Zhao: College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China
Hongzhen Li: College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China
Jiangtao Ji: College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China
Qianwen Li: School of Art and Design, Henan University of Science and Technology, Luoyang 471003, China
Mengsong Li: College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China
Yongkang He: College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China
Jinlong Li: College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China
Suhe Xing: College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China

Agriculture, 2023, vol. 13, issue 12, 1-18

Abstract: Agaricus bisporus is widely cultivated worldwide due to its considerable economic benefits. The increasingly prominent contradiction between production and labor shortage necessitates the urgent replacement of human workers with intelligent picking technology and equipment. Therefore, a pressure-stabilized flexible end-effector was designed to achieve the rapid and low-loss picking of Agaricus bisporus . The dimensions of the end-effector were determined by measuring the external parameters of Agaricus bisporus . A mechanics model of the end-effector was constructed to analyze the picking process theoretically, and the pre-experiments identified the key performance factors of the end-effector: the thickness of the flexible membrane, the particle filler material, and the pressure stability. A series of experiments were conducted to investigate the factors mentioned above concerning the performance of the end-effector. The results show that the adsorption effect is best when the thickness of the flexible membrane is 0.9 mm, and the particle diameter is 200 mesh quartz. To control the adsorption force of the end-effector accurately during the picking process, a low-cost adsorption force-adjustment system was designed, and the stability of the system was verified. The experimental results showed that the device improved the stability of the adsorption force during the operation of the picking system by 84.71%. An experiment was conducted on the picking of Agaricus bisporus using the designed end-effector. The success rate of picking with the end-effector was 98.50%, and the picking damage rate was 2.50%.

Keywords: Agaricus bisporus; automated picking; profiling end-effector; suction force (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: 2023
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