Mechanical Principle and Structural Design for Agricultural Robot’ Compliant Operation

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Machine Design and Theory".

Deadline for manuscript submissions: 30 April 2024 | Viewed by 939

Special Issue Editors


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Guest Editor
Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
Interests: agricultural robotics control; compliant operation; intelligence sensing technology; deep reinforcement learning
Special Issues, Collections and Topics in MDPI journals

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Guest Editor
Mechanical Equipment Research Institute, Xinjiang Academy of Agricultural and Reclamation Science, Shihezi, China
Interests: intelligent agricultural machinery

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Guest Editor
Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China
Interests: agricultural robot

Special Issue Information

Dear Colleagues,

Agricultural robots that are capable of replacing manual labor for complex farming tasks is considered as a core element of future smart agriculture. When it comes to working with delicate organs of both plants and animals, the ability of robots to perform flexible and non-destructive operations is crucial, and it significantly impacts their operational effectiveness. Currently, research in the area of flexible operations for agricultural robots is growing rapidly, with a focus on mechanical modeling, flexible materials, mechanism design, motion control, and trajectory planning.

The convergence of various technological approaches and innovations is key to address the challenges associated with achieving flexibility in agricultural robot operations. Analyzing the mechanics of non-destructive operations through multiple technical means and designing intelligent actuators for replication are effective strategies for overcoming the difficulties associated with achieving compliant operations in agricultural robotics. This Special Issue invites researchers to share their valuable research findings and insights on mechanical modeling, mechanical design, motion planning, and servo control in the context of compliant operations for agricultural robots.

Dr. Qingchun Feng
Dr. Chao Ji
Dr. Zenghong Ma
Guest Editors

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Keywords

  • agricultural robot
  • end effector
  • flexible operation
  • arm
  • motion planning
  • servo control
  • mechanical design

Published Papers (1 paper)

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Research

16 pages, 6540 KiB  
Article
Design of Shiitake Mushroom Robotic Picking Grasper: Considering Stipe Compressive Stress Relaxation
by Jianxun Li, Qingchun Feng, Mengfei Ru, Jiahui Sun, Xin Guo and Wengang Zheng
Machines 2024, 12(4), 241; https://doi.org/10.3390/machines12040241 - 07 Apr 2024
Viewed by 335
Abstract
In order to realize the automatic picking of shiitake mushrooms and reduce the risk of damage to shiitake mushrooms in the picking process, this paper designed a shiitake mushroom picking grasper. First, this paper carries out mechanical tests of compression and stress relaxation [...] Read more.
In order to realize the automatic picking of shiitake mushrooms and reduce the risk of damage to shiitake mushrooms in the picking process, this paper designed a shiitake mushroom picking grasper. First, this paper carries out mechanical tests of compression and stress relaxation on sections of shiitake mushroom stipes, and establishes the component stress relaxation equations of shiitake mushroom stipes. The compression mechanical characteristics of the entire mushroom stipe are then analyzed using finite element analysis, with a mean square error of less than 5% compared to actual results. Second, based on the actual picking experience, this paper proposes an “L”-shaped three-finger picking grasper, and analyzes the mechanical relationship between the grasper’s gripping force, twisting separation torque, and servo output torque. Furthermore, according to the mechanical constitutive model of mushroom stipes, the optimal twisting separation torque and corresponding servo motor output torque for the grasper are determined. The picking grasper designed in this paper was tested for picking mushrooms of different growth periods, and the test results show that the picking grasper designed in this paper is able to grasp and separate the mushrooms quickly and without damage. Full article
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