Algorithmic model for choosing configuration parameters for robotic gripping of agricultural products

The solution to the problem of automating the process of collecting agricultural products based on models, algorithms and multicriteria synthesis of the configuration of robotic capture and control of its software and hardware components during physical manipulations with objects of agricultural products is discussed. Performing monotonous physically difficult operations in agricultural production leads to the risk of disorders of the musculoskeletal system of workers, therefore, the use of robotic means for physical contact and manipulation with objects in agricultural production is an urgent task that ensures a reduction in the cost of production, an increase in the quality of operations performed and the labor safety of involved specialists. The variability of the physical and geometric characteristics of the fruits and the methods of their collection does not allow the creation of universal robotic grippers, therefore, active research is currently underway on the design of robotic grippers for manipulating the fruits of individual crops, differing in weight, density, geometry, surface roughness and other parameters. The article describes the developed conceptual model of robotic gripper control, including the description of the manipulator, gripper, sensor system and the manipulated object of agricultural products with various forms, physical and mechanical properties. The article analyzes the physical and mechanical properties of some vegetables and fruits, methods of cutting off the fruit, which should be taken into account when developing robotic grippers. There were discussed a four-stage technique for determining the parameters of robotic gripping, including determining the characteristics of the manipulated object; characteristics of the working environment; determination of the features of the manipulator on which the gripper is planned to be installed, and evaluation of the efficiency of the projected gripper according to a number of criteria. The developed algorithmic model of the choice of configuration parameters for robotic gripping of agricultural products is presented. It provides, based on the analysis of the properties of the manipulated object, the development of requirements for the configuration and gripping control system.

robotic gripper, agro-gripper, anthropomorphic grippers, manipulators, agro-robots, agricultural products