Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This manuscript describes an assist robot to harvest citrus fruits. The purpose of the robot is to carry citrus fruits between the fruit trees and a monorail automatically. This monorail carries a container which is filled by the fruits to the base of mountain. In order to carry the fruits without touching the branches of trees, it is desirable to make the size of robot small. On the other hands, it is requested to move the fruits to a container on a monorail. The height of the container is about 1m. Therefore, the robot needs to carry and lift up the fruits. This robot has the pantograph mechanism with a linear moving. actuator. This mechanism can lift up the weight of 15 kg stably. In this paper, the performance of the mechanism is shown.
