南瓜自動収穫用ロボットハンドの把持リンク機構の設計

抄録

The automatic pumpkin harvester is expected to be developed in order to solve the problem of the aging of farmers in Japan from the 2010s. This paper describes a newly designed grasping link-mechanism of a robot hand that will be utilized for automatic pumpkin harvesting. In order to develop the robot hand, the dimensions and weight data of pumpkin were measured in a field. The dimensions of the linkages for the robot hand was designed according to the measured data. The force required for grapping a 5 kg pumpkin was calculated in the static condition. Moreover, a 3D model of the robot hand was designed based on the decided size of the linkages. In addition, the robot hand was attached to a robot arm that was mounted on a base vehicle.