Abstract
This paper addresses the procedure for designing a novel mechatronic device for a semi-automatic saffron harvesting. The design process includes the kinematic analysis and synthesis of the proposed mechanism to fulfill a grasping and harvesting of saffron flower with a specific two-finger gripper design. Then, a cam mechanism and elastic spring elements are designed to provide a shaking movement that achieves the splitting of the flower from its steam and a consequent flower harvesting. This is followed by a suction system for collecting and storing the harvested flowers. A 3D printed prototype is reported and preliminarily tested for validating the engineering feasibility and effectiveness of the proposed design solution.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Diaz-Marta, A., Arghittu, G.L., Astrka, A., et al.: White Book Saffron in Europe Problems and Strategies for Improving the Quality and Strengthen Competitiveness. INTERREG IIIC (2006)
Ruggiu, M., Bertetto, A.M.: A mechanical device for harvesting crocus sativus (saffron) flowers. Appl. Eng. Agric. Am. Soc. Agric. Biol. Eng. 22(4), 491–498 (2006)
Antonelli, M.G., Auriti, L., Zobel, P.B., Raparelli, T.: Development of a new harvesting module for saffron flower detachment. Rom. Rev. Precis. Mech. Opt. Mechatron. 39, 163–168 (2011)
Bertetto, A.M., Ricciu, R.: Mechanization in Harvesting Saffron: An Opportunity for Economic Development in Sardinia. Advances in Business-Related Scientific Research Conference, Olbia (2012)
Asimopoulos, N., Parisses, C., Smyrnaios, A., Germanidis, N.: Autonomous vehicle for saffron harvesting. In: 6th International Conference on Information and Communication Technologies in Agriculture, Food and Environment, Corfu (2013)
Gambella, F., Paschino, F., Bertetto, A.M.: Perspective in mechanization of saffron (Crocus sativus L.). Int. J. Mech. Control 14(2), 3–8 (2013)
Bertetto, A.M., Ricciu, R., Badas, M.G: A mechanical saffron flower harvesting system. Meccanica 49, 2785–2796 (2014)
Russo, M., Ceccarelli, M., Corves, B., et al.: Design and test of a gripper prototype for horticulture products. Robot. Comput.-Integr. Manuf. 44, 266–275 (2017)
Carbone, G., González, A.: A numerical simulation of the grasp operation by LARM hand IV: a three finger robotic hand. Robot. Comput.-Integr. Manuf. 27(2), 450–459 (2011)
Rodriguez, F., Moreno, J.C., Sanchez, J.A., Berenguel, M.: Grasping in Agriculture: State-of-the-Art and Main Characteristic. Grasping in Robotics, pp. 385–409 (2013)
Li, Z.G., Liu, Z., Li, P.P.: Study on the collision mechanical properties of tomatoes gripped by harvesting robot. Afr. J. Biotechnol. 8(24), 7000–7007 (2009)
Dimeas, F., Sako, D.V., Moulinanitis, V.C., Aspragathos, N.A.: Design and fuzzy control of a robotic gripper for efficient strawberry harvesting. Robotica 33(5), 1085–1098 (2015)
Van Hented, E.J., Hemming, L., Van Tuijl, B.A.J., et al.: An autonomous robot for harvesting cucumbers in greenhouses. Auton. Robots 13(3), 241–258 (2002)
Cafolla, D., Ceccarelli, M., Wang, M.F., Carbone, G.: 3D printing for feasibility check of mechanism design. Int. J. Mech. Control 17(1), 3–12 (2016)
Yao, S., Ceccarelli, M., Carbone, G., Dong, Z.: Grasp configuration planning for a low-cost and easy-operation underactuated three-fingered robot hand. Mech. Mach. Theory 129, 51–69 (2018)
Yao, S., Ceccarelli, M., Carbone, G., Zhan, Q., Lu, Z.: Analysis and optimal design of an underactuated finger mechanism for LARM hand. Front. Mech. Eng. 6(3), 332–343 (2011)
Carbone, G., Ceccarelli, M.: Experimental tests on feasible operation of a finger mechanism in the LARM hand. Mech. Based Des. Struct. Mach. 36(1), 1–13 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Denarda, A., Manuello Bertetto, A., Pisla, D., Carbone, G. (2021). Design and Preliminary Testing of a Novel Semi-automatic Saffron Harvesting Device. In: Zeghloul, S., Laribi, M.A., Sandoval, J. (eds) Advances in Service and Industrial Robotics. RAAD 2021. Mechanisms and Machine Science, vol 102. Springer, Cham. https://doi.org/10.1007/978-3-030-75259-0_2
Download citation
DOI: https://doi.org/10.1007/978-3-030-75259-0_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-75258-3
Online ISBN: 978-3-030-75259-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)