Study on mechanical properties of citrus bases on robotic harvesting

Abstract

The mechanical properties of citrus are the important basis for designing the citrus harvesting robot end-effector.The relationship between stress and distortion of citrus was theoretically analyzed using the Hertz theory,and compressive experiments with even pace on ripen citrus were carried out to validate the result of theoretical analysis and gain the compressive resistance properties of citrus.Also,the frictional characteristics of citrus and properties of citrus'peduncle cutting were studied,which provided exactly basis to design robotic end-effector for citrus harvesting.