Basic Studies on Automatization of Chrysanthemum Cutting Sticking Operation (Part 3)

Development of Leaf Removing Devices

Abstract

Part 1 and 2 of this series reported detecting algorithms of chrysanthemum cutting for a visual sensor in a robotic cutting sticking system. In this paper, lower leaf removing devices to arrange the shape of cutting were investigated. Physical properties of chrysanthemum cutting were measured for designing mechanisms of the devices. Based on the results, two types of devices were manufactured and tested. The first device had Y-shape cutter, which were opened and closed by a solenoid actuator, to cut leaves and petioles of cutting. The second device trimmed the shape of upper leaves by cutters and removed lower leaves and petioles of cutting by using shearing force. From the experimental results, it was observed that their success rates were around 90%.