Modeling and path simulation of an autonomous tomato picking robot

Abstract

The objective of the work was to present a robot conceptual design and optimal trajectory of End-effector for open field tomato harvesting. The project was aimed at overcoming the challenge of seasonal labour shortage in tomato harvesting. The harvesting robot was modelled along with a stereo camera, a UR 10 manipulator, a scissor lift, track drive system for robot mobility and a soft robotic gripper for tomato picking. The end – effector was proposed with 3 fingers of silicone rubber material to reduce damaging of the fruit in the process of picking. By dominant gas action, the fingers are bent to decrease the gap of the tip, safeguarding the fruit within the end-effector. In accordance with the farm environment and standard planting mode, the robot configuration was determined, whose operating room could be adjusted vertically to increase the picking range. Path simulation results of the End-effector were obtained for the action of selecting tomatoes and place them within the basket. Future integration with tomato-harvesting robotic systems for real field tests of tomato harvesting ought to enhance the practicability of developing autonomous robotic systems.