Show simple item record  

dc.contributor.authorAu, Chi Kiten_NZ
dc.contributor.authorBarnett, Joshen_NZ
dc.contributor.authorLim, Shen Hinen_NZ
dc.contributor.authorDuke, Mikeen_NZ
dc.date.accessioned2020-08-24T04:48:51Z
dc.date.available2020-08-24T04:48:51Z
dc.date.issued2020en_NZ
dc.identifier.citationAu, C. K., Barnett, J., Lim, S. H., & Duke, M. (2020). Workspace analysis of Cartesian robot system for kiwifruit harvesting. Industrial Robot : The International Journal of Robotics Research and Application, 47(4), 503–510. https://doi.org/10.1108/IR-12-2019-0255en
dc.identifier.issn0143-991Xen_NZ
dc.identifier.urihttps://hdl.handle.net/10289/13749
dc.description.abstractPurpose – This paper aims to investigate if a Cartesian robot system for kiwifruit harvesting works more effectively and efficiently than an articulated robot system. The robot is a key component in agricultural automation. For instance, multiple robot arm system has been developed for kiwifruit harvesting recently because of the significant labor shortage issue. The industrial robots for factory automation usually have articulated configuration which is suitable for the tasks in the manufacturing and production environment. However, this articulated configuration may not fit for agricultural application due to the large outdoor environment. Design/methodology/approach – The kiwifruit harvesting tasks are completed step by step so that the robot workspace covers the canopy completely. A two-arm, Cartesian kiwifruit harvesting robot system and several field experiments are developed for the investigation. The harvest cycle time of the Cartesian robot system is compared to that of an articulated robot system. The difference is analyzed based on the workspace geometries of these two robot configurations. Findings – It is found that the kiwifruit harvesting productivity is increased by using a multiple robot system with Cartesian configuration owing to its regular workspace geometry. Originality/value – An articulated robot is a common configuration for manufacturing because of its simple structure and the relatively static factory environment. Most of the agricultural robotics research studies use single articulated robot for their implementation. This paper pinpoints how the workspace of a multiple robot system affects the harvest cycle time for kiwifruit harvesting in a pergola style kiwifruit orchard.
dc.format.mimetypeapplication/pdf
dc.language.isoenen_NZ
dc.publisherEmerald Publishing Limiteden_NZ
dc.rightsThis is an author's accepted version of an article published in Industrial robot : The International Journal of Robotics Research and Application. © 2020 Emerald Publishing Limited.
dc.subjectScience & Technologyen_NZ
dc.subjectTechnologyen_NZ
dc.subjectEngineering, Industrialen_NZ
dc.subjectRoboticsen_NZ
dc.subjectEngineeringen_NZ
dc.subjectCartesian roboten_NZ
dc.subjectArticulated roboten_NZ
dc.subjectWorkspaceen_NZ
dc.subjectKiwifruitsen_NZ
dc.subjectHarvestingen_NZ
dc.subjectDesignen_NZ
dc.titleWorkspace analysis of Cartesian robot system for kiwifruit harvestingen_NZ
dc.typeJournal Article
dc.identifier.doi10.1108/IR-12-2019-0255en_NZ
dc.relation.isPartOfIndustrial robot : The International Journal of Robotics Research and Applicationen_NZ
pubs.begin-page503
pubs.elements-id253691
pubs.end-page510
pubs.issue4en_NZ
pubs.publication-statusPublisheden_NZ
pubs.volume47en_NZ
dc.identifier.eissn1758-5791en_NZ


Files in this item

This item appears in the following Collection(s)

Show simple item record