Robotic Harvesting Arm Kinematics for 360° Fruit Picking

Solution Overview

Problem

The process of harvesting objects from plants is time-consuming and inefficient due to human fatigue, and existing robotic systems are limited by kinematics and mechanical design, which restricts their ability to approach objects from various angles, potentially damaging plants or obstructing other objects.

Innovation Solution

A robotic harvesting system with a base, linear transports, robotic arms, and end effectors that can move autonomously, equipped with cameras and sensors to determine object positions and approach from 360°, allowing for efficient object selection and harvesting while avoiding obstructions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If existing robotic systems are used with limited kinematics and mechanical design, then the system structure is simpler, but the ability to approach objects from various angles is restricted, potentially damaging plants or obstructing other objects

Engineering Contradiction:

Improveability to approach objects from various anglesVSAvoidkinematics and mechanical design complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robotic arm is divided into multiple segments (first segment, second segment, third segment) connected by joints, allowing independent rotation and movement of each segment. This segmentation enables the arm to approach objects from various angles by coordinating the movement of individual segments, resolving the contradiction between adaptability and structural simplicity.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The robotic arm incorporates multiple joints with rotational freedom, transforming a static or limited-motion structure into a dynamic system. The first joint rotates the first segment, the second joint rotates the second segment, and the third joint rotates the third segment, enabling the end effector to reach objects from multiple angles while maintaining a relatively simple overall structure.

Inventive Principle:

Principle #15Dynamics

2Productivity

If robotic arms are constrained by mechanical design, then the device complexity is lower, but the harvesting efficiency and speed are reduced

Engineering Contradiction:

Improveharvesting efficiencyVSAvoidmechanical design complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The robotic arm is divided into multiple segments (first segment, second segment, third segment) connected by joints, allowing independent rotation and movement of each segment. This segmentation enables the arm to approach objects from various angles by coordinating the movement of individual segments, resolving the contradiction between adaptability and structural simplicity.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The robotic arm incorporates multiple joints with rotational freedom, transforming a static or limited-motion structure into a dynamic system. The first joint rotates the first segment, the second joint rotates the second segment, and the third joint rotates the third segment, enabling the end effector to reach objects from multiple angles while maintaining a relatively simple overall structure.

Inventive Principle:

Principle #15Dynamics

3Reliability

If robotic systems use fixed approach paths, then the control system is simpler, but the system may obstruct other objects or damage plants

Engineering Contradiction:

Improvedamage avoidanceVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The robotic arm incorporates multiple joints with rotational freedom, transforming a static or limited-motion structure into a dynamic system. The first joint rotates the first segment, the second joint rotates the second segment, and the third joint rotates the third segment, enabling the end effector to reach objects from multiple angles while maintaining a relatively simple overall structure.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system uses sensors and cameras to detect the positions of objects and adjusts the robotic arm's movement accordingly. The control system receives feedback from sensors about object locations and obstacles, then calculates appropriate approach paths that avoid damage to plants and obstructions to other objects, resolving the contradiction between reliability and control complexity.

Inventive Principle:

Principle #23Feedback

Data Source

PatentEP4039419A1Robotic harvesting system

Publication Date: 2022.08.10 OISHII FARM CORPORATION

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AI summary

A robotic harvesting system includes a base, a linear transport, a robotic arm, and an end effector. The base is configured to move in a direction of travel. A linear transport is mounted to the base. The linear transport is configured to move along the base in substantially a same direction or opposite direction as the direction of travel. A robotic arm is mounted to the linear transport. The robotic arm has a proximal end and a distal end. The distal end of the robotic arm is configured to rotate toward and away from the base from a first joint. An end effector is mounted on the distal end of the robotic arm.