All Hydraulic Manipulator and Hand for Agricultural Use

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Hydraulic drive robot is suitable to agricultural robot, for it has advantage about power weight ratio, handling of heavy work and dust proof. Therefore all hydraulic drive manipulator and hand have been developed. Agricultural robots are requited to operate several farm works. To operate several works, one farm work must be operated certainly. Then we selected watermelon harvesting as the one. The manipulator with the hand was installed on the commercial based vehicle, and laboratory and field experiment were done.Kinematics and dynamics analysis and manipulator parameter identification were done. Further function of control device and algorithm were confirmed. As a results, the manipulator is capable of real time control and has sufficient performance about positioning as agricultural robot. To develop watermelon harvesting hand, shape and mass of watermelon were measured. The function of gripper and control system were sufficient.Watermelon harvesting robot, also, are required the function of fruit recognition and proper harvesting time decision, On the discriminate between fruit and leaves, how to combine methods using moving image processing and difference of RGB density distribution was possibility for practical use. To decide proper harvesting time in field, change of physical and wave propagation property with maturity were measured. As a results, proper harvesting time decision was difficult only by batting, because individual difference was large.