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<p>The decline in agricultural labor due to aging populations has increased the need for intelligent harvesting solutions. Picking robots must integrate robotics, sensing, and control while adapting to complex field conditions. However, current systems often suffer from inefficiency and bulky designs. Developing lightweight and precise manipulators remains a critical challenge. This study presents a novel horizontally driven parallel mechanism harvesting manipulator designed for improved mobility and precision in constrained agricultural environments. The harvesting manipulator adopts a parallel mechanism with horizontally oriented actuation to better accommodate fruit-picking operations. It has the characteristics of light weight, high speed, and high precision. A key innovation lies in optimizing the linkage ratio to minimize bending stress under horizontal loads. We evaluate three control strategies-local position control, angular velocity command, and routing control-via simulation and experiment. Results show that the angular velocity command achieves the best accuracy and convergence time, while local position control provides the highest speed. These findings offer practical insights for precision sweet pepper harvesting.</p>

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Design and eye-hand coordination control of a horizontally driven parallel mechanism harvester

  • 期刊论文

  • 发表日期：

    2025年9月10日

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  • Ning Liu,
  • Koichi Oka,
  • Feng Sun,
  • Ueno Yuki

摘要

The decline in agricultural labor due to aging populations has increased the need for intelligent harvesting solutions. Picking robots must integrate robotics, sensing, and control while adapting to complex field conditions. However, current systems often suffer from inefficiency and bulky designs. Developing lightweight and precise manipulators remains a critical challenge. This study presents a novel horizontally driven parallel mechanism harvesting manipulator designed for improved mobility and precision in constrained agricultural environments. The harvesting manipulator adopts a parallel mechanism with horizontally oriented actuation to better accommodate fruit-picking operations. It has the characteristics of light weight, high speed, and high precision. A key innovation lies in optimizing the linkage ratio to minimize bending stress under horizontal loads. We evaluate three control strategies-local position control, angular velocity command, and routing control-via simulation and experiment. Results show that the angular velocity command achieves the best accuracy and convergence time, while local position control provides the highest speed. These findings offer practical insights for precision sweet pepper harvesting.