Structural Design of Agaricus bisporus Picking Robot based on Cartesian Coordinate System

The Agaricus bisporus Picking Robot is one of the researches focuses in the world at present. This paper introduces and analyzes the structure of an Agaricus bisporus Picking Robot based on the independent design. The picking robot complete the picking task by taking the way that the visual area, the picking area and the auxiliary area cooperat2e with each other, the visual-picking work parallelly and taking the working principle of the "three-step walking". Based on the structure principle of Gantry Robot, a rectangular coordinate mechanism with four degrees of freedom is designed. The picking sucker of the robot can complete the three-axis linear motion and the fixed axis rotation in the three-dimensional space. And decompose the space displacement movement into a three-direction linear motion so that the Agaricus bisporus Picking Robot has an advantage of the wide motion space, fast motion and high motion accuracy. In this way, it can quickly complete the fixed-point picking task of Agaricus bisporus Picking Robot. Through the experimental data obtained by the robot picking experiment at the mushroom base, the picking efficiency of the self-developed Agaricus bisporus Picking Robot reached 15s, and the picking success rate reached 91.95%.

Agaricus bisporus Picking Robot, Gantry Robot, three-step walking

Sun Chenzhe, Hu Xiaomei, and Yu Tao, Lu Xiangyu, Structural Design of Agaricus bisporus Picking Robot based on Cartesian Coordinate System. 2019 International Computer Science and Applications Conference (ICSAC 2019). 2019: 103-106.