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A Review of Pruning and Harvesting Manipulators

Title
A Review of Pruning and Harvesting Manipulators
Type
Article in International Conference Proceedings Book
Year
2021
Authors
Vítor Tinoco
(Author)
Other
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Manuel F. Silva
(Author)
Other
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Sandro Magalhães
(Author)
Other
Luís C. Santos
(Author)
Other
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Other information
Authenticus ID: P-00T-WW0
Abstract (EN): The increase of the world population and a decrease in agricultural labour availability have motivated research robotics in the agricultural field. This paper aims to analyze the state of the art related to manipulators used in the agricultural robotics field. Two pruning and seven harvesting manipulators were reviewed and are analyzed. The pruning manipulators were used in two different scenarios: (i) grapevines and (ii) apple trees. These manipulators showed that a light-controlled environment could reduce visual errors and that prismatic joints on the manipulator are advantageous to obtain a higher reach. The harvesting manipulators were used for 5 different products: (i) strawberries, (ii) tomatoes, (iii) apples, (iv) sweet-peppers and (v) iceberg lettuce. The harvesting manipulators showed that a different kinematic configuration is required for different end-effectors, as some end-effectors only require horizontal movements and others require more degrees of freedom to reach and grasp the target. This work will support new developments of novel solutions related to agricultural robotic grasping and manipulation.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 6
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