トマト収穫のためのロボットアームとハンドの開発

抄録

In recent years, robots are hoped to use in agriculture. We develop the robot arm and hand to harvest bunch of tomato. The developed robot arm has five degrees to approach the tomato various angles and to twist the hand. The hand has two motors to open or close. In this report, we compare the hand type which two sticks type, three sticks type and five sticks type. Each type has advantage points and disadvantage ones. For example, two sticks type can approach the tomato many angles, but it is difficult to hold tomato. We do the harvest experiment to compare the hand type.