牛番茄為寒帶作物,多以小面積溫室種植,富含高營養價值,食用人口逐年升高。然而,牛番茄產業面臨人口老化,勞動力不足等問題,需積極開發一套具有自動採收系統。本研究擬以行政院農委會農業試驗所(Taiwan Agricultural Research Institute Council of Agriculture, Executive Yuan)共同研發之三爪式夾爪作為牛番茄採收之工具,夾爪之手指為撓性旗魚式爪指,夾取牛番茄時可使撓性手指彎曲,增加其包覆性與摩擦力,並透過牛番茄物理性質分析,顯示牛番茄平均穿刺力為1.35kgf,以此力量作為牛番茄夾取最大夾取力之基準,同時於夾爪上貼附薄膜式力量感測器,可直接量測手指與待測物之間的力量,經模擬測試後,最大夾持力為0.6kgf,並以夾爪最大夾持力進行夾取試驗,牛番茄於抓取位置果傷情形,結果顯示,受抓取過與未抓取過之牛番茄穿刺力相差0.09kgf,可視為無損傷,進而測試夾爪三種不同摩擦力之材料,進行其材料拉力,以及配合撓性爪指夾取後完全拉出之拉拔力,可依此作為後續夾爪採摘材料選用。
Beef tomato is considered as boreal crops. Many of them are planted in small area greenhouse. It has large nutritional value and the population of eating beef tomato is increasing year by year. However, the industry of beef tomato is facing some problem such as an aging population and lack of working population. In this case, it is necessary to develop a system that can harvest beef tomato automatically. This study is to cooperate with Taiwan Agriculture Research Institute council of Agriculture, to develop a harvest tool with three-claw-type gripper jaw that can easily use for beef tomato. The fingers of the claw are flexible. When it grips the beef tomato, it can bend the flexible fingers to increase its friction and covering. Moreover, we can notice that the puncture force of beef tomato is 1.35 kgf from the physical properties of beef tomato. We can use this properties as the basic of beef tomato's maximum gripping force. Also, we use thin membrane sensor on the claw to detect the force between the claw and the target. After the simulation test, the result shows the maximum gripping force is 0.6 kgf. Thus, we use the maximum force in our gripping tese. In the end of the test, we can know the puncture force of before gripped and after gripped has 0.09 kgf difference. In this condition we can considered this situation as no damage. After all, we test three different friction of materials to implement the pulling test. Collocation flexible finger and its pulling force, it can optimal the choosing of claw's material.
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