September 2020 - 15

The researchers conducted field
tests to assess performance of the
prototype. In results recently reported
in Transactions of the ASABE,
they reported that the end-effector
successfully cut branches up to
about ½-inch in diameter. The field
results also showed that the proposed
pruning end-effector could cut the
branches at a wide range of possible
orientations in a given space.
There were two major challenges
to creating a mechanical system
that would succeed in a complex
agricultural environment, noted lead
researcher, doctoral degree student
Azlan Zahid. First, the robotic arm
and cutting unit had to be able to
operate in tight spaces because apple
trees have many branches and their
orientation is random. The cutting
mechanism must reach targeted
branches for pruning while avoiding
the tangle of other branches.
Penn State were Daeun Choi, assistant
professor agricultural and biological
engineering; James Schupp, professor
of plant science; Paul Heinemann,
professor and head, Department
of Agricultural and Biological
Engineering; and Lihua Zeng,
visiting scholar in the Department
of Agricultural and Biological
Engineering from Hebei Agriculture
University, China.
This research was supported by
the United States Department of
Agriculture's National Institute of
Food and Agriculture, Northeast
Sustainable Agriculture Research and
Education and Penn State College
of Agricultural Sciences Stoy G. and
Della E. Sunday program. FGN
The end-effector prototype in action at Penn State's Fruit Research and Extension Center
in Adams County, Pennsylvania. There were major challenges to creating a mechanical
system that would succeed in a complex agricultural environment, according to
researchers. The robotic cutting unit had to be able to operate in tight spaces and reach
targeted branches for pruning while avoiding the tangle of other branches.
Penn State researchers Lihua Zeng, visiting
scholar, and Aslan Zahid, doctoral degree
candidate, first measured branch-cutting
force with a sensor attached to manual
pruners to provide information for the
end-effector design. Photos: Long He
Research Group/Penn State
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In an innovative move, the
researchers incorporated the
integrated design of a pruning robot
with two rotational joints and three
linear/prismatic joints to accomplish
this mechanical dexterity. The aim
was to reduce the spatial requirements
for maneuvering into position and
align the cutter perpendicular to the
branches.
The second challenge was
" trajectory planning, " Zahid
explained. " We had to develop a
compact arm and cutting mechanism
that can orient itself at almost all
possible angles in the work space, "
he said. " And we have to reach to any
branch, despite the very high chance
of having a collision with other
branches. "
The robotic end-effector developed
in this research is a core component in
an entirely automated pruning system
for fruit trees, envisioned by He.
" We would like to collaborate
with some other institutions on the
machine-vision component, but for
now the plan is to develop our own
system here at Penn State - maybe
starting next year on the machinevision
component, " he said. " I would
like to see if we could develop it on
our own. "
Opportunities to collaborate, He
added, may depend on whether
researchers can get funding from the
federal government or stakeholder
groups.
Also involved in the research at
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September 2020

Table of Contents for the Digital Edition of September 2020
