Design and Simulation of Pineapple Picking-Gripper Based on MATLAB Image Processing

Harvesting pineapples by manual is very hard, and the working condition is bad, so it is urgent to harvest the pineapples mechanically and automatically. The picking gripper is an important component of the pineapple picking robot. The pineapple shape information is acquired by image processing technique. The maximum diameter range of the pineapple is from 102.9 mm to 134 mm, the distance range between mass center and the maximum diameter is from 3.9 mm to 40.5 mm. According to the above data, the double-pivot rotary gripper is designed. The gripper consists of two fingers, two handles, two poles, a base, a pin and a handspike. The finger shape is "V" and fixed on one end of the handle. The middle of handle is fixed on the pole, the handle can rotate around the middle point. The other end of the handle is opened a spout, the two handles are connected with the pin and the pin can move along with the handspike, so that the handles rotate around the middle point to realize the fingers to open and close. In order to verify the rationality of the movement of the gripper, the gripper model is established in Pro/E, imported into ADAMS/View with the application of Mech/Pro2005, and the kinematic simulation is completed in ADAMS/View.