Robotic systems, methods, and end-effectors for harvesting produce

US9554512B2 · kind B2 · utility

Assignee

• WASHINGTON STATE UNIVERSITY · US

Inventors

• Joseph Ryan Davidson · Watertown, US
• Changki Mo · Richland, US
• Qin Zhang · Hubei, CN
• Abhisesh Silwal · Prosser, US
• Manoj Karkee · Richland, US

Key dates

• Filing date: Sep 10, 2015
• Grant date: Jan 31, 2017
• Expiry date: Sep 10, 2035

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/45003
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Robotic systems and specialized end-effectors provide for automated harvesting of produce such as fresh market apples. An underactuated design using tendons and flexure joints with passive compliance increases robustness to position error, overcoming a significant limitation of previous fruit harvesting end-effectors. Some devices use open-loop control, provide a shape-adaptive grasp, and produce contact forces similar to those used during optimal hand picking patterns. Other benefits include relatively low weight, low cost, and simplicity.