This study explored the development of a stationary robotic strawberry harvester that was combined with a movable bench system as part of the development of an industrially production system for a strawberry in a plant factory. At first the difficulty of approaching target fruit was investigated using table-top plants cultured in a greenhouse. Then the maximum force needed to separate fruit from the peduncle was measured. Based on these results, an end-effector was designed with three unique functions; (1) suction cup was vibrated to minimize the influence of the adjoining fruits at the time of approach; (2) compressed air was blown toward the adjoining fruits to force them away from the target fruit; (3) peduncle was removed with the motion of tilting and pulling the target fruit. Next, an optical system to equip the machine with the ability to detect and determine the position and coloration of strawberry fruit was constructed. The position of the fruit was detected from below with a stereo-camera. The coloration measurement unit was set against the bed of the movable bench system at fruit level to capture images of target fruit. Considering the spectral reflectance characteristics of strawberry fruit, the coloration measurement unit was equipped with red, green, and white LEDs. Finally the stationary robot was tested in an experimental harvesting system in which the robot was combined with a movable bench unit. In the experiment system, the stationary robot enabled highly stable harvesting operation. / Kyoto University (京都大学) / 0048 / 新制・論文博士 / 博士(農学) / 乙第12528号 / 論農博第2747号 / 新制||農||988(附属図書館) / 学位論文||H23||N4584(農学部図書室) / 28350 / (主査)教授 近藤 直, 教授 清水 浩, 准教授 飯田 訓久 / 学位規則第4条第2項該当

This master´s thesis describes the design and realization of the simulation in program Tecnomatix Process Simulate. The thesis deals with the creation of a simulated assembly line of gluing a protective glass to the headlight. For this operation is using four stationary robotic arms. Created simulation behaves like a real robotic assembly line. In simulation is implemented several input sensors, robotic operations and conveyer structure. The control is done with PLC programmed, designed in TIA portal 14. Thesis includes a detailed description of the design whole simulation, together with the Tecnomatix Process Simulate environment. This software offer a many external commissioning and three bigger were tested, two kinds of OPC servers and PLCSIM Advanced. The conclusion of the diploma thesis describes the way of simulation control with visualization of whole process cell.