로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제15권2호
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  • Pages.91-99
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  • 2020
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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과채류 수확을 위한 로봇 엔드이펙터 리뷰

A Review of End-effector for Fruit and Vegetable Harvesting Robot

  • Seol, Jaehwi (Department of Rural and Biosystems Engineering, Chonnam National University) ;
  • Lee, Sechang (Department of Rural and Biosystems Engineering, Chonnam National University) ;
  • Son, Hyoung Il (Department of Rural and Biosystems Engineering, Chonnam National University)
  • 투고 : 2020.02.22
  • 심사 : 2020.03.16
  • 발행 : 2020.05.31
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초록

Fruit and vegetable harvesting robots have been widely studied and developed in recent years to reduce the cost of harvesting tasks such as labor and time. However, harvesting robots have many challenges due to the difficulty and uncertainty of task. In this paper, we characterize the crop environment related to the harvesting robot and analyzes state-of-the-art of the harvesting robot especially, in the viewpoint of robotic end-effector. The end-effector, an one of most important element of the harvesting robot, was classified into gripper and harvesting module, which were reviewed in more detail. Performance measures for the evaluation of harvesting robot such as test, detachment success, harvest success, and cycle time were also introduced. Furthermore, we discuss the current limitations of the harvesting robot and challenges and directions for future research.

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참고문헌

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