<i>Development of a Robotic End Effector for Apple Tree Pruning</i>

2019 ◽  
Author(s):  
Azlan Zahid ◽  
Long He ◽  
Lihua Zeng
Keyword(s):  
Apple Tree ◽  
End Effector ◽  
Tree Pruning

Development of a Robotic End-Effector for Apple Tree Pruning

2020 ◽  
Vol 63 (4) ◽  
pp. 847-856 ◽  
Author(s):  
Azlan Zahid ◽  
Long He ◽  
Lihua Zeng ◽  
Daeun Choi ◽  
James Schupp ◽  
...  
Keyword(s):  
Cutting Force ◽  
Apple Tree ◽  
Field Tests ◽  
Force Sensor ◽  
Pneumatic Cylinder ◽  
List Type ◽  
End Effector ◽  
Wide Range ◽  
Simulation Results ◽  
Tree Pruning

HighlightsAn end-effector with two degrees of freedom (2R) was developed for pruning apple trees.A rational 2×2 relationship (R2 = 0.93) was found for ‘Fuji’ apple tree branch diameter and cutting force.Simulation showed that the cutter can be aligned in a wide range of orientations in a spherical workspace.The developed end-effector was able to cut branches up to 12 mm in diameter.Abstract. Robotics and automation technologies are now used extensively in agriculture, while production operations for tree fruit crops still largely depend on manual labor. Manual pruning is a labor-intensive and costly task in apple production. Robotic pruning is a potential solution, but it involves several challenges due to the unstructured work environment. This study focused on designing an end-effector prototype for pruning considering the maneuvering, spatial, mechanical, and horticultural requirements. Branch cutting force was measured with a thin force sensor to provide guidelines for the end-effector design. The test results indicated the relationship between the force required to cut different diameter branches with an R2 value of 0.93. The end-effector was developed using two rotary motors, a pneumatic cylinder, and a pair of bypass shear blades. A three-directional linear manipulator system and a control system were built for moving the end-effector to targeted locations. A mathematical model was developed for simulation of the workspace utilization and reachable points of the end-effector. The simulation results indicated that the end-effector can be aligned in a wide range of orientations of the cutter. Field tests were conducted for validation of the simulation results and performance assessment of the end-effector. The results indicated that the end-effector with the current parameter settings successfully cut branches up to 12 mm in diameter and was able to cut branches in a wide range of possible orientations in a given 3D space. The robotic end-effector developed in this study is a core component of an automated pruning system for fruit trees. In future work, an integrated manipulator system will be developed for branch accessibility with collision-free trajectories. Keywords: Malus × domestica (Borkh.), Pruning end-effector, Reachable-points simulation, Tree pruning.

The computer-aided teaching of apple tree pruning and training

2017 ◽  
Vol 25 (4) ◽  
pp. 568-577 ◽  
Author(s):  
Simon Kolmanič ◽  
Stanislav Tojnko ◽  
Tatjana Unuk ◽  
Štefan Kohek
Keyword(s):  
Apple Tree ◽  
Computer Aided ◽  
Tree Pruning ◽  
And Training

Phlyctaena vagabunda Desm., Pezicula malicorticis (Jackson) Nannf., and other fungi associated with apple twigs

1971 ◽  
Vol 11 (49) ◽  
pp. 254
Author(s):  
LJ Penrose
Keyword(s):  
Botrytis Cinerea ◽  
Apple Tree ◽  
New South ◽  
New South Wales ◽  
First Record ◽  
Apple Fruit ◽  
Source Of Infection ◽  
South Wales ◽  
Tree Pruning

The apple fruit rotting fungi Phlyctaena vagabunda, Pezicula malicorticis and Botrytis cinerea were isolated from apple tree pruning stubs or cankers. This report constitutes the first record of Pezicula malicorticis in New South Wales. It is suggested that pruning stubs provide the source of infection for fruit rots caused by these fungi.

scholarly journals The effect of pruning practice and term on a leaf area of apple-trees

2019 ◽  
Vol 2019 (1) ◽  
pp. 66-75
Author(s):  
O.V. Melnyk ◽  
Y.O. Kravtsova
Keyword(s):  
Leaf Blade ◽  
Apple Tree ◽  
Leaf Surface ◽  
Morphological Changes ◽  
Apple Trees ◽  
Blade Thickness ◽  
Leaf Surface Area ◽  
Number Of Leaves ◽  
Tree Pruning ◽  
Key Words Apple

The article is devoted to the study of morphological changes of the apple leaf apparatus in the intensive plantations depending on different methods and terms of pruning. The article scientifically substantiates and proves that changes in the leaf apparatus primarily depend on the timing and methods of pruning the crown. It was found out that the contour pruning of apple trees is 14% larger than the area of the leaf blade, and after pruning in the pink cone phase - 11%, the implementation of this agricultural measure in the pink cone phase increases the total leaf surface by 20%, thickens the leaf blade by 8% and reduces the number of leaves of apple trees by 17%. Key words: apple tree, pruning method, pruning period, mechanical (contour) pruning, leaf surface area, leaf blade thickness.

Properties of Soda and Organosolv Lignins from Apple Tree Pruning

2012 ◽  
Vol 6 (3) ◽  
pp. 329-335 ◽  
Author(s):  
Luis Serrano ◽  
Giorgia Spigno ◽  
Araceli García ◽  
Danila Amendola ◽  
Jalel Labidi
Keyword(s):  
Apple Tree ◽  
Tree Pruning

Virtual Apple Tree Pruning in Horticultural Education

2009 ◽  
pp. 26-37 ◽  
Author(s):  
Ning Xia ◽  
Ai-Shuang Li ◽  
Dan-Feng Huang
Keyword(s):  
Apple Tree ◽  
Tree Pruning

<i>Evaluation of Branch Cutting Torque Requirements Intended for Robotic Apple Tree Pruning</i>

2021 ◽  
Author(s):  
Azlan Zahid ◽  
Md Sultan Mahmud ◽  
Long He
Keyword(s):  
Apple Tree ◽  
Branch Cutting ◽  
Tree Pruning

Antioxidant and biocide behaviour of lignin fractions from apple tree pruning residues

2017 ◽  
Vol 104 ◽  
pp. 242-252 ◽  
Author(s):  
Araceli García ◽  
Giorgia Spigno ◽  
Jalel Labidi
Keyword(s):  
Apple Tree ◽  
Pruning Residues ◽  
Tree Pruning

Testing Koopmann's rules of apple tree pruning

1982 ◽  
Vol 16 (3) ◽  
pp. 209-215 ◽  
Author(s):  
H. Jonkers
Keyword(s):  
Apple Tree ◽  
Tree Pruning
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