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A Dual Motor Actuator Used To Detach Fruit By Shaking Limbs Of Fruit Trees
M. De Kleine, M. Karkee, Q. Zhang, K. Lewis
Washington State University
Mechanizing the fruit removal operation during fresh-market apple harvesting will result in considerable cost savings for fruit growers. This study introduces a mechanical fruit removal technique that uses a unique limb shaking mechanism called a Dual Motor Actuator (DMA). The DMA was developed as an infinitely variable end-effector that applies rhythmic motions to a fruiting limb to remove fruit. The novelty of the DMA design is the use of two eccentrics mounted to electric motors that are pinned together to form a triangle with an adjustable base. In this paper, the development of the mechanism and a field study using two varieties of fruit (‘Fuji’ and ‘Granny Smith’) is reported. The fruit removed was classified based on three removal conditions (stem-intact, stempull, and spurpull) commonly used in the fresh-market apple industry. Stem-intact is the preferred classification whereas a limited percentage of spur-pull will also be acceptable. Stem-intact fruit removal rates with the DMA were excellent for ‘Fuji’ (90 % avg.) and moderate for ‘Granny Smith’ (50 % avg.). The DMA end-effector provides an alternative mechanism to apply a controllable shaking pattern and rhythm. This precise limb acceleration method shows great potential for removing apples from a limb while maintaining fresh-market stem-intact quality fruit.
Keyword
: Limb shaker, Mechanical Harvesting, Apples, Trellis, Actuation
M. De kleine
M. Karkee
Q. Zhang
K. Lewis
Engineering Technologies and Advances
Oral
2014
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