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An Electric Gripper for Picking Brown Mushrooms with Flexible Force and In Situ Measurement

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Listed:
  • Haonan Shi

    (Key Laboratory of Intelligent Agricultural Equipment of Jiangsu Province, College of Engineering, Nanjing Agricultural University, Nanjing 210031, China)

  • Gaoming Xu

    (College of Intelligent Manufacturing and Equipment, Jiangmen Polytechnic, Jiangmen 529090, China)

  • Wei Lu

    (Key Laboratory of Intelligent Agricultural Equipment of Jiangsu Province, College of Engineering, Nanjing Agricultural University, Nanjing 210031, China)

  • Qishuo Ding

    (Key Laboratory of Intelligent Agricultural Equipment of Jiangsu Province, College of Engineering, Nanjing Agricultural University, Nanjing 210031, China)

  • Xinxin Chen

    (College of Agricultural Engineering, Jiangsu University, Zhenjiang 212001, China)

Abstract

As brown mushrooms are both delicious and beneficial to health, the global production and consumption of brown mushrooms have increased significantly in recent years. Currently, to ensure the quality of brown mushrooms, selective manual picking is required, and the delicate surface of the mushrooms must not be damaged during the picking process. The labor cost of picking accounts for 50–80% of the total labor cost in the entire production process, and the high-humidity, low-temperature plant environment poses a risk of rheumatism for the laborers. In this paper, we propose a novel underactuated gripper based on a lead screw and linear bearings, capable of operating with flexible force control while simultaneously measuring the diameter of the mushrooms. The gripper features three degrees of freedom: lifting, grasping, and rotation, and enabling it to approach, grasp, and detach the mushroom. A thin-film force sensor is installed on the inner side of the fingers to achieve accurate grip force measurement. The use of a PID algorithm ensures precise grip force control, thereby protecting the brown mushrooms from damage. Experimental results demonstrate that the proposed gripper has a static grasping force error of 0.195 N and an average detachment force overshoot of 1.31 N during the entire picking process. The in situ measurement of the mushroom diameter achieves 97.3% accuracy, with a success rate of 98.3%. These results indicate that the gripper achieves a high success rate in harvesting, a low damage rate, and accurate diameter measurement.

Suggested Citation

  • Haonan Shi & Gaoming Xu & Wei Lu & Qishuo Ding & Xinxin Chen, 2024. "An Electric Gripper for Picking Brown Mushrooms with Flexible Force and In Situ Measurement," Agriculture, MDPI, vol. 14(7), pages 1-15, July.
  • Handle: RePEc:gam:jagris:v:14:y:2024:i:7:p:1181-:d:1437954
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    References listed on IDEAS

    as
    1. Huimin Xu & Gaohong Yu & Chenyu Niu & Xiong Zhao & Yimiao Wang & Yijin Chen, 2023. "Design and Experiment of an Underactuated Broccoli-Picking Manipulator," Agriculture, MDPI, vol. 13(4), pages 1-18, April.
    2. Wenjing Zhu & Zhankang Feng & Shiyuan Dai & Pingping Zhang & Xinhua Wei, 2022. "Using UAV Multispectral Remote Sensing with Appropriate Spatial Resolution and Machine Learning to Monitor Wheat Scab," Agriculture, MDPI, vol. 12(11), pages 1-16, October.
    3. Kaiwen Chen & Tao Li & Tongjie Yan & Feng Xie & Qingchun Feng & Qingzhen Zhu & Chunjiang Zhao, 2022. "A Soft Gripper Design for Apple Harvesting with Force Feedback and Fruit Slip Detection," Agriculture, MDPI, vol. 12(11), pages 1-26, October.
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    Cited by:

    1. Haonan Shi & Gaoming Xu & Yixuan Xie & Wei Lu & Qishuo Ding & Xinxin Chen, 2025. "Cable-Driven Underactuated Flexible Gripper for Brown Mushroom Picking," Agriculture, MDPI, vol. 15(8), pages 1-15, April.

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