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Basic studies on robot to work in vineyard (Part 1). Manipulator and harvesting hand

, : Basic studies on robot to work in vineyard (Part 1). Manipulator and harvesting hand. Journal of the Japanese Society of Agricultural Machinery 55(6): 85-94

Trellis training of vines is considered to be more suitable for robot operations than other training systems. A manipulator with 5 degrees of freedom and a harvesting hand were developed based on measurements of the position of grape bunches and the frictional and cutting resistance of the rachises. The manipulator was a polar coordinate type with its extremity controlled to move in a continuous path.

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