Design and Experiment on Chinese Prickly Ash Automatic Picking Device

Zhi Yang He; Xiao Peng Huang; Jing Feng Wu; Fang Xin Wan

doi:10.4028/www.scientific.net/AMM.635-637.1303

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 635-637Design and Experiment on Chinese Prickly Ash...

Design and Experiment on Chinese Prickly Ash Automatic Picking Device

Abstract:

In order to realize automatic picking Chinese prickly ash fruits, We designed a special picking device with a five degrees of freedom mechanical arm based on machine vision. The mechanical structure was designed and the mechanical arm working range was analyzed. The experimental results show that the recognized positioning accuracy is ±10mm, the ratio of the fruit string minimum radius and the recognition radius was 0.95.The picking success rate was 93% when picking range distance was 200-800 mm, and the empty rate caused by false identification goal was 5%. The maximum error of the 3d coordinates which were calculated was 15 mm.

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Periodical:

Applied Mechanics and Materials (Volumes 635-637)

Pages:

1303-1307

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.635-637.1303

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Online since:

September 2014

Authors:

Zhi Yang He, Xiao Peng Huang, Jing Feng Wu, Fang Xin Wan*

Keywords:

Automation, Chinese Prickly Ash, Machine Vision, Picking

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* - Corresponding Author

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