Design and co-simulation for tomato harvesting robots

Abstract

A tomato harvesting robot consisting of a mobile vehicle, a manipulator, a vision system, an end-effector, a cutter and a control system is designed. Each module is described in detail. The manipulator is 4 DOF with one parallel linkage, which generate two directions' motion. The harvesting robot performed the harvesting task based on machine vision servo system. A personal computer working as the host computer conducted the manipulator, the end-effector and the cutter. The viability and validity of the tomato harvesting robot was preliminarily confirmed by co-simulation for the electromechanical system.