Construction of a Mechanical Gripper for the Automatic Transplantation of Seedlings in a Multi-cell Tray

Abstract

In this paper we present the construction of a mechanical gripper with four “fingers” (needles) which are used to transplant seedlings in multi-cell trays; the gripper is magnetically coupled to an open technology Cartesian robot. All parts are 3D printed thereby achieving a high degree of replicability, it is also lightweight and resistant to damp environments and sea breezes. In order to determine the morphology of the gripper, we described the mechanic of seedling transplantation, obtaining design needs, such as the penetration angle of the claw needles in the seedlings substrate; as well as the torque required to achieve a successful transplant. Finally, we disclose the gripper printed in 3D and the different transplant applications carried out.