Design and Research on End Effector of a Pruning Robot
Due to the complicated working environment in the field, the problem of automatic pruning of fruit trees and the utilization of tree debris have not been well addressed. Therefore, this paper analyzes the agronomic characteristics, working environment, transportation, treatment of residual branches and weight of the end effector of the pruner to design a multifunctional end effector with the function of pruning and smashing. This end effector cuts and grinds tree branches through six steps, namely: preparation, entering, cutting, transportation and smashing. During the working process, the end effector is powered by four low power motors to cut with its blade saw. Experiment shows that this end effector can perform the task of cutting and smashing branches within 1 cm.