摘要：AbstractDesigning an agricultural robot must be supported by characterization of target crop. In this study, three verities of pumpkin including JEJEJ, TC2A, and Hokutokou were taken under physical evaluation to find an appropriated robotic harvesting procedure. The main objective of this study was finding required parameters to design a unique end-effector for harvesting the pumpkin. In this regard, three experimentations were conducted including general physical properties for investigating the pumpkin orientation and possible harvesting methodologies, compression strength test for measuring the compression yield force in grasping stage, and bending-shear test for measuring the yield force to cut the stem. The results showed that the average pumpkin’s lift weight was 26% more than pumpkin’s pure weight. The orientation of all specimen was unified in the range of (-90°, +90°) when the pumpkins were lifted to a certain height. In average, the tested pumpkins have a radius, volume, and weight of 105.62 mm, 4.95 × 106mm3, 3.03 kg, respectively. The combination of lifting technique with pumpkin parametrization were made the infrastructure of a robotic harvesting methodology. Based on the compression test, the maximum, minimum, and average compression force of JEJEJ, TC2A, Hokutokou was 4.66, 4.58, and 4.61 kN; 2.81, 2.06, and 2.24 kN; and 3.37, 3.1, and 3.23kN, respectively. The optimum stress and time period in during of stem cutting were 2.84, 3.3, and 2.01N⁄mm2and 2.4, 2.03. and 1.39 s for JEJEJE, TC2A and Hokutokou, respectively when a single angles blade with 60° was used to cut the stems.
关键词：KeywordsAgricultural robotEnd-effectorPumpkinCompression testBending-shear test
