KİVİ HASATI İÇİN ROBOTİK TUTUCU TASARIMI.

Robotic harvesting systems consist of three important parts. These are; robotic arm, image processing and gripper. Within robotic harvesting systems, consisting of three parts, gripper, which ensures the last motion is the most important part, ensuring plucking the fruit from tree branch.In this study, the determination of location of fruit on the branch was done through the use of image processing, the most significant input for the robotic system and fruit harvesting, and the shearing process was applied. In processing the images in two-dimensional form, the fruit images transferred into the digital media were processed with the help of the camera program by grounding on the shape features of the fruit. The processed data were transferred into the robotic system by means of a robotic control card. The movement of the robotic system was provided according to the x and y coordinate values coming through the image processing.Pneumatic scissors system, design of which has been completed, has been mounted on the end of robotic arm. Tries have been carried out on 100 kiwis, which are on different positions. As the result of these tests, it was observed that the stem thickness of the fruit and stem ultimate strength were effective in harvesting the fruit.Cutting performance has been analyzed systematically. It has been observed that system could achieve the cutting of the fruit from tree branch, with a success rate of 72%. The reasons of 28% failure rate have been studied. According to study results, the fact that fruit rib is in the end of scissors, that scissors hold head of fruit, instead of fruit rib and that scissors hold beginning point of fruit and fruit rib and snag within rib cause failure for plucking process. According to the results obtained from the tries it has been observed that, pneumatic scissors system is appropriate. [ABSTRACT FROM AUTHOR]