Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot

Shima Shademani; Shahriyar Kouravand; Payam Zarafshan; Khalil Aalipour; Amir Ghalamzan Esfahani

doi:10.1109/ICRoM60803.2023.10412362

Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot

Shima Shademani, Shahriyar Kouravand, Payam Zarafshan, Khalil Aalipour, Amir Ghalamzan Esfahani

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

Abstract

Saffron is one of the most valuable spices in the world, whose origin is attributed to Iran. Iran produces about 90% of the world's saffron annually, however, the harvesting of this product in Iran is mostly done manually. Manual harvest of saffron brings problems. Decreasing the quality of saffron and contamination of saffron with microorganisms are among the problems that arise during manual harvesting. For this purpose, a gripper is recommended for harvesting saffron flowers. One of the special features of the saffron plant is that several flowers may come out from each corm at different time intervals, for this reason, the proposed gripper uses the plucking method to harvest the flowers and separate flowers from the stem so that the next flowers can grow easily. Design, simulation, and control of the gripper have been conducted using conventional software such as SOLIDWORKS, ADAMS, and MATLAB.

Original language	English
Title of host publication	11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	171-176
Number of pages	6
ISBN (Electronic)	9798350308105
DOIs	https://doi.org/10.1109/ICRoM60803.2023.10412362
Publication status	Published - 2023
Externally published	Yes
Event	11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023 - Tehran, Iran, Islamic Republic of Duration: 19 Dec 2023 → 21 Dec 2023

Publication series

Name	11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

Conference

Conference	11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	19/12/23 → 21/12/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

ADAMS
Gripper
Robotic System
Saffron Flowers
SolidWorks

Access to Document

10.1109/ICRoM60803.2023.10412362

Cite this

Shademani, S., Kouravand, S., Zarafshan, P., Aalipour, K., & Esfahani, A. G. (2023). Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot. In 11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023 (pp. 171-176). (11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM60803.2023.10412362

Shademani, Shima ; Kouravand, Shahriyar ; Zarafshan, Payam et al. / Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot. 11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 171-176 (11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023).

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abstract = "Saffron is one of the most valuable spices in the world, whose origin is attributed to Iran. Iran produces about 90% of the world's saffron annually, however, the harvesting of this product in Iran is mostly done manually. Manual harvest of saffron brings problems. Decreasing the quality of saffron and contamination of saffron with microorganisms are among the problems that arise during manual harvesting. For this purpose, a gripper is recommended for harvesting saffron flowers. One of the special features of the saffron plant is that several flowers may come out from each corm at different time intervals, for this reason, the proposed gripper uses the plucking method to harvest the flowers and separate flowers from the stem so that the next flowers can grow easily. Design, simulation, and control of the gripper have been conducted using conventional software such as SOLIDWORKS, ADAMS, and MATLAB.",

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doi = "10.1109/ICRoM60803.2023.10412362",

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Shademani, S, Kouravand, S, Zarafshan, P, Aalipour, K & Esfahani, AG 2023, Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot. in 11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023. 11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023, Institute of Electrical and Electronics Engineers Inc., pp. 171-176, 11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023, Tehran, Iran, Islamic Republic of, 19/12/23. https://doi.org/10.1109/ICRoM60803.2023.10412362

Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot. / Shademani, Shima; Kouravand, Shahriyar; Zarafshan, Payam et al.
11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 171-176 (11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AU - Kouravand, Shahriyar

AU - Zarafshan, Payam

AU - Aalipour, Khalil

AU - Esfahani, Amir Ghalamzan

PY - 2023

Y1 - 2023

N2 - Saffron is one of the most valuable spices in the world, whose origin is attributed to Iran. Iran produces about 90% of the world's saffron annually, however, the harvesting of this product in Iran is mostly done manually. Manual harvest of saffron brings problems. Decreasing the quality of saffron and contamination of saffron with microorganisms are among the problems that arise during manual harvesting. For this purpose, a gripper is recommended for harvesting saffron flowers. One of the special features of the saffron plant is that several flowers may come out from each corm at different time intervals, for this reason, the proposed gripper uses the plucking method to harvest the flowers and separate flowers from the stem so that the next flowers can grow easily. Design, simulation, and control of the gripper have been conducted using conventional software such as SOLIDWORKS, ADAMS, and MATLAB.

AB - Saffron is one of the most valuable spices in the world, whose origin is attributed to Iran. Iran produces about 90% of the world's saffron annually, however, the harvesting of this product in Iran is mostly done manually. Manual harvest of saffron brings problems. Decreasing the quality of saffron and contamination of saffron with microorganisms are among the problems that arise during manual harvesting. For this purpose, a gripper is recommended for harvesting saffron flowers. One of the special features of the saffron plant is that several flowers may come out from each corm at different time intervals, for this reason, the proposed gripper uses the plucking method to harvest the flowers and separate flowers from the stem so that the next flowers can grow easily. Design, simulation, and control of the gripper have been conducted using conventional software such as SOLIDWORKS, ADAMS, and MATLAB.

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PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 19 December 2023 through 21 December 2023

ER -

Shademani S, Kouravand S, Zarafshan P, Aalipour K, Esfahani AG. Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot. In 11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 171-176. (11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023). doi: 10.1109/ICRoM60803.2023.10412362

Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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