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Hand mechanism for apple harvesting robot

机译：苹果收割机器人的手动机构

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摘要

The apple is an important agricultural product in north Tohoku region. However, the harvest process is still depending on manual labors. In the manual apple harvesting, the apple is rotated around the absciss layer. The tensile strength betweenapple peduncle and the absciss layer was measured approximately 47N. The rotational strength between the apple peduncle and the absciss. layer was measured approximately 0.05N m. The convenient way of harvesting the apple is by making the apple rotationwith the absciss layer as the rotation center. The harvesting hand with the above performance was developed. The experimental result showed that the developed hand harvested apples with the probability of success of more than 90%. The developed hand has a good performance for apple harvesting.
机译：苹果是东北北部地区的重要农产品。但是，收获过程仍然取决于体力劳动。在手动收获苹果时，苹果绕脱落层旋转。苹果花序梗与脱落层之间的抗张强度约为47N。苹果花序梗和脱落茎之间的旋转强度。测得该层约0.05N·m。收获苹果的简便方法是使苹果以脱落层为旋转中心进行旋转。具有上述性能的收割手得以开发。实验结果表明，发达的人工收割苹果成功的可能性超过90％。发达的手具有良好的收割苹果性能。

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