Fig 1.
The structure of the end-effector.
1. Upper Bracket, 2. Mounting Bracket, 3. Slide Sleeve, 4. Slider, 5. Sliding Guide, 6. Upper Cross Plane, 7. Spindle, 8. Lower Bracket, 9. Bolt, 10. Spring, 11. Hexagon Nut 1, 12. Bottom Cross Plane, 13. Middle Cross Plane, 14. Short Pin, 15. Rotation Part, 16. Slide sleeve, 17. Needle, 18. Thread Rod, 19. Hexagon Nut 2, 20. Hexagon Nut 3, 21. Pneumatic Cylinder.
Fig 2.
Process for transplanting one plug seedling.
Fig 3.
Force measurement system.
Fig 4.
Force analysis of the measurement system.
Fig 5.
Linear fit for the U9C and C9C transducers.
Table 1.
Force values and the corresponding voltage values.
Fig 6.
Transplanting platform with the designed end-effector.
Table 2.
Factors and levels of the full interaction experiment.
Table 3.
Tray treatment and seedling germination rate.
Table 4.
Transplantation results for plug seedlings.
Fig 7.
Plug seedlings after transplantation.
Table 5.
Detailed statistics of harmed root plugs in the experiment.
Fig 8.
Signals from the C9C and U9C transducers.
Table 6.
Adhesive force FL and extrusion force Fk during the combinational effect trial.
Table 7.
Analysis of variance for extrusion forces.
Table 8.
Independent impacts of the three variable factors on extrusion forces (/N).
Table 9.
Analysis of variance for adhesive forces.
Table 10.
Independent impacts of the three variable factors on adhesive forces (/N).