Revisión. Tecnologías en garras robotizadas para operaciones de coger y dejar productos hortofrutícolas frescos
Resumen
La robótica ha sido introducida en la industria para reemplazar a los humanos en tareas arduas y repetitivas, reducir mano de obra y para asegurar una calidad constante de los procesos. Actualmente los robos son más baratos, capaces de manipular productos a alta velocidad y de trabajar en ambientes hostiles. Por tanto, los robots pueden trabajar en operaciones de “coger y dejar” (pick & place, P&P) con frutas y hortalizas frescas. Para un proceso rentable de P&P, son necesarias una alta velocidad y fiabilidad, así como un bajo coste de los sistemas de agarre. Este artículo de revisión recopila las necesidades y fases empleadas en el proceso de manipulación, reuniendo y analizando las técnicas existentes, potenciales y emergentes y sus posibilidades de aplicación para la manipulación de productos hortofrutícolas frescos a partir del estudio detallado de sus características. Considera las dificultades y la falta de ingenieros para concebir e implementar soluciones. Los autores proponen las alternativas más prometedoras para acometer este difícil problema y consideran la necesidad de seguir estudiando las características de frutas y vegetales frescos y las necesidades de manipulación. Las garras de contacto con mecanismos infra-actuados y ventosas o agarrar el producto sin contacto pueden ser las alternativas más prometedoras para manipular frutas y vegetales frescos. Es necesario continuar estudiando las características de las frutas y vegetales frescos y las necesidades de manipulación para diseñar garras correctas que puedan trabajar a alta velocidad, haciendo rentable un proceso de P&P industrial.Descargas
Citas
Akella S., Mason M.T., 1999. Using partial sensor information to orient parts. Int J Robotics Res 18, 963-997. http://dx.doi.org/10.1177/02783649922067663
Akella S., Huang W.H., Lynch K.M., Mason M.T., 1997. Sensorless parts orienting with a one-joint manipulator. Proc Intl Conf Robot Automat. Albuquerque, New Mexico, USA, pp. 2383-2390. http://dx.doi.org/10.1109/ROBOT.1997.619318
Allende A., Desmet M., Vanstreels E., Verlinden B.E., Nicolai B.M., 2004. Micromechanical and geometrical properties of tomato skin related to differences in puncture injury susceptibility. Postharvest Biol Technol 34, 131-141. http://dx.doi.org/10.1016/j.postharvbio.2004.05.007
Amagai A., Takase K., 2002. Implementation of dynamic manipulation with visual feedback and its application to pick and place task. Proc 4th Intl Symp on Assembly and Task Planning. Fukuoka, Japan. pp. 344-350.
Bachmann J., Earles R., 2000. Postharvest handling of fruits and vegetables. Appropriate technology transfer for rural areas, Fayetteville, Arizona. pp. 1-19. [on line] Available in https://attra.ncat.org/attra-pub/viewhtml.php?id=378 [3 Oct, 2011].
Bajema R., Hyde G., Baritelle A., 1998. Temperature and strain rate effects on the dynamic failure properties of potato tuber tissue. T ASAE 41, 733-740.
Baksys B., Ramanauskytė K., Povilionis A.B., 2009. Vibratory manipulation of elastically unconstrained part on a horizontal plane. J Mechanika 1(75), 36-41.
Bar-Cohen Y., Leary S., Shahinpoor M., Harrison J., Smith J., 1999. Flexible low-mass devices and mechanisms actuated by electroactive polymers. Proc.SPIE, Bellingham 3669, 51-56.
Barreiro P., Steinmetz V., Ruiz-Altisent M., 1997. Neural bruise prediction models for fruit handling and machinery evaluation. Comput Electron Agric 18, 91-103. http://dx.doi.org/10.1016/S0168-1699(97)00022-7
Bicchi A., 2002. Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity. Transactions on Robotics and Automation 16, 652-662. http://dx.doi.org/10.1109/70.897777
Bielza C., Barreiro P., Rodriguez-Galiano M., Martin J., 2003. Logistic regression for simulating damage occurrence on a fruit grading line. Comput Electron Agric 39, 95-113. http://dx.doi.org/10.1016/S0168-1699(03)00021-8
Bloss R., 2006. How do you quickly load cases and trays with tough to handle product? Ind Robot 33, 339-341. http://dx.doi.org/10.1108/01439910610684990
Brantmark H., Hemmingson E., 2001. FlexPicker with PickMaster revolutionizes picking operations. Ind Robot 28, 414-420. http://dx.doi.org/10.1108/EUM0000000005844
Brown E., Rodenberg N., Amend J., Mozeika A., Steltz E., Zakin M.R., Lipson H., Jaeger H.M., 2010. Universal robotic gripper based on the jamming of granular material. P Natl Acad Sci USA 107(44), 18809-18814. http://dx.doi.org/10.1073/pnas.1003250107 PMCid:2973877
Brusewitz G., Bartsch J., 1989. Impact parameters related to post harvest bruising of apples. T ASAE 32, 953-957.
Ceccarelli M., Nieto J., 1993. El agarre con pinzas de dos dedos. 1 Congreso Iberoamericano de Ingenieria Mecanica, Madrid 4, pp. 171-176. [In Spanish].
Ceccarelli M., Figliolini G., Ottaviano E., Mata A.S., Criado E.J., 2000. Designing a robotic gripper for harvesting horticulture products. Robotica 18, 105-111. http://dx.doi.org/10.1017/S026357479900226X
Chen P., Sun Z., 1991. A review of non-destructive methods for quality evaluation and sorting of agricultural products. J Agr Eng Res 49, 85-98. http://dx.doi.org/10.1016/0021-8634(91)80030-I
Chua P., Ilschner T., Caldwell D., 2003. Robotic manipulation of food products–a review. Ind Robot 30, 345-354. http://dx.doi.org/10.1108/01439910310479612
Davis S., Gray J., Caldwell D.G., 2008. An end effector based on the Bernoulli principle for handling sliced fruit and vegetables. Robot Comput Integrated Manuf 24, 249-257. http://dx.doi.org/10.1016/j.rcim.2006.11.002
Erzincanli F., Sharp J., 1997. A classification system for robotic food handling. Food Control 8, 191-197. http://dx.doi.org/10.1016/S0956-7135(97)00048-0
Feller R., Margolin E., Zacharin A., Pasternak H., 1985. Development of a clod separator for potato packing houses. T ASAE 28, 1019-1023.
Fischer I.H., Ferreira M.D., Spósito M.B., Amorim L., 2009. Citrus postharvest diseases and injuries related to impact on packing lines. Scientia Agrícola 66, 210-217. http://dx.doi.org/10.1590/S0103-90162009000200010
Foglia M.M., Reina G., 2006. Agricultural robot for radicchio harvesting. J Field Robotics 23, 363-377. http://dx.doi.org/10.1002/rob.20131
García-Ramos F., Ortiz-Cañavate J., Ruiz-Altisent M., 2004. Evaluation and correction of the mechanical aggressiveness of commercial sizers used in stone fruit packing lines. J Food Eng 63, 171-176. http://dx.doi.org/10.1016/S0260-8774(03)00297-8
Geyer M., Herold B., Truppel I., 2006. Online sensing the mechanical impacts of real perishables during handling. ASABE Paper number 063064.
Grunert K.G., 2005. Food quality and safety: consumer perception and demand. Eur Rev Agr Econ 32(3), 369-391. http://dx.doi.org/10.1093/eurrag/jbi011
Hamman K., 2007. Food sector specificities relevant for innovation, company growth and access to financing. [on line] Available in http://archive.europe-innova.eu/index.jsp?type=page&lg=en&cid=7677. [12 Apr 2011].
Han I., 2007. Vibratory orienting and separation of small polygonal parts. Proc. Inst. Mech. Eng. Pt. B: J Eng Manuf 221, 1743-1753. http://dx.doi.org/10.1243/09544054JEM846
Hauhouot-O'hara M., Criner B., Brusewitz G., Solie J., 2000. Selected physical characteristics and aerodynamic properties of cheat seed for separation from wheat. Agric Eng Intl: The CIGR Journal of Scientific Research and Development 2.
Hayashi S., Ganno K., Ishii Y., Tanaka I., 2002. Robotic harvesting system for eggplants. Japan Agric Res 36, 163-168.
Hayashi S., Shigematsu K., Yamamoto S., Kobayashi K., Kohno Y., Kamata J., Kurita M., 2010. Evaluation of a strawberry-harvesting robot in a field test. Biosyst Eng 105, 160-171. http://dx.doi.org/10.1016/j.biosystemseng.2009.09.011
Herold B., Truppel I., Siering G., Geyer M., 1996. A pressure measuring sphere for monitoring handling of fruit and vegetables. Comput Electron Agric 15, 73-88. http://dx.doi.org/10.1016/0168-1699(96)00004-X
Hirose S., Umetani Y., 1978. The development of soft gripper for the versatile robot hand. Mechanism and Machine Theory 13, 351-359. http://dx.doi.org/10.1016/0094-114X(78)90059-9
Huang W.H., Mason M.T., 1997. Mechanics for vibratory manipulation. Robotics and automation. Intl Conf Robot 604 Automat, Albuquerque, New Mexico, USA, pp. 2391-2396.
Kader A.A., 1983. Influence of harvesting methods on quality of deciduous tree fruits. HortScience 18, 409-411.
Kondo N., 2010. Automation on fruit and vegetable grading system and food traceability. Trends Food Sci Technol 21, 145-152. http://dx.doi.org/10.1016/j.tifs.2009.09.002
Kordi M.T., Husing M., Corves B., 2007. Development of a multifunctional robot end-effector system for automated manufacture of textile performs. Advanced intelligent mechatronics, IEEE/ASME Intl Conf 1-6.
Lewis R., Yoxall A., Marshall M., Canty L., 2008. Characterising pressure and bruising in apple fruit. Wear 264, 37-46. http://dx.doi.org/10.1016/j.wear.2007.01.038
Lichtensteiger M., Holmes R., Hamdy M., Blaisdell J., 1988. Evaluation of Kelvin model coefficients for viscoelastic spheres. T ASAE 31, 288-292.
Maldonado A.I.L., 2010. Automation and robots for handling, storing and transporting fresh horticulture produce. Stewart Postharvest Review 6, 1-6. http://dx.doi.org/10.2212/spr.2010.3.14
Mantriota G., 2007a. Theoretical model of the grasp with vacuum gripper. Mechanism and Machine Theory 42, 2-17. http://dx.doi.org/10.1016/j.mechmachtheory.2006.03.003
Mantriota G., 2007b. Optimal grasp of vacuum grippers with multiple suction cups. Mechanism and Machine Theory 42, 18-33. http://dx.doi.org/10.1016/j.mechmachtheory.2006.02.007
Meijneke C., Kragten G., Wisse M., 2011. Design and performance assessment of an underactuated hand for industrial applications. [on line]. Available www.mech-sci.net/2/9/2011/ [12 Apr 2011].
Menesatti P., Paglia G., 2001. PH-Postharvest technology: development of a drop damage index of fruit resistance to damage. J Agr Eng Res 80, 53-64. http://dx.doi.org/10.1006/jaer.2000.0669
Mercado-Flores J., López-Orozco M., Martínez-Soto G., Alcántara-González L., Garnica-Rodríguez B., 2005. Aplicación del modelo de contacto de Hertz para la determinación del módulo de elasticidad y del módulo de Poisson en frutos cítricos: lima, limón, naranja y tangerina. VII Congreso Nacional de Ciencia de los Alimentos. Guanajuato, Mexico, pp. 367-373 [In Spanish].
Monkman G.J., Hesse S., Steinmann R., Schunk H., 2007. Robot grippers. Ed Wiley-VCH, Weinhein. Chap 3.
Monta M., Kondo N., Ting K., 1998a. End-effectors for tomato harvesting robot. Artif Intell Rev 12, 11-25. http://dx.doi.org/10.1023/A:1006595416751
Monta M., Kondo N., Ting K., Giacomelli G., Mears D., Kim Y., Ling P., 1998b. Harvesting endeffector for inverted single truss tomato production systems. J Jpn Soc Agr Machin 60, 97-104.
Morrow C., Mohsenin N., 1968. Dynamic viscoelastic characterization of solid food materials. J Food Sci 33, 646-651. http://dx.doi.org/10.1111/j.1365-2621.1968.tb09093.x
Muscato G., Prestifilippo M., Abbate N., Rizzuto I., 2005. A prototype of an orange picking robot: past history, the new robot and experimental results. Ind Robot 32, 128-138. http://dx.doi.org/10.1108/01439910510582255
Naghdy F., Esmaili M., 1996. Soft fruit grading using a robotics gripper. Int J Robot Automat 11, 93-101.
Peleg M., Calzada J., 1976. Stress relaxation of deformed fruits and vegetables. J Food Sci 41, 1325-1329. http://dx.doi.org/10.1111/j.1365-2621.1976.tb01163.x
Penisi O.H., Ceccarelli M., Carbone G., 2003. Clasificación de mecanismos en pinzas industriales de dos dedos. Revista Iberoamericana de Ingeniería Mecánica 7, 59-75 [In Spanish].
Peterson C., Hall C., 1975. Dynamic mechanical properties of the Russet Burbank potato as related to temperature and bruise susceptibility. Am J Potato Res 52, 289-312. http://dx.doi.org/10.1007/BF02874443
Petterson A., Ohlsson T., Gray J., Davis S., Caldwell D., Dodd T., 2010a. A Bernoulli principle gripper for handling of planar and 3D (food) products. Ind Robot 37, 518-526. http://dx.doi.org/10.1108/01439911011081669
Pettersson A., Davis S., Gray J., Dodd T., Ohlsson T., 2010b. Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes. J Food Eng 98, 332-338. http://dx.doi.org/10.1016/j.jfoodeng.2009.11.020
Ruiz-Altisent M., Ruiz-García L., Moreda G., Lu R., Hernandez-Sanchez N., Correa E., Diezma B., Nicolaī B., García-Ramos J., 2010. Sensors for product characterization and quality of specialty crops-A review. Comput Electron Agric 74, 176-194. http://dx.doi.org/10.1016/j.compag.2010.07.002
Saadat M., Nan P., 2002. Industrial applications of automatic manipulation of flexible materials. Ind Robot 29,434-442. http://dx.doi.org/10.1108/01439910210440255
Sam R., Nefti S., 2010. Design and feasibility tests of flexible gripper for handling variable shape of food products. Proc 9th WSEAS Intl Conf on Signal Processing, Robotics and Automation, Cambridge, UK, pp. 329-335.
Sarig Y., 1993. Robotics of fruit harvesting: A state-of-theart review. J Agr Eng Res 54, 265-280. http://dx.doi.org/10.1006/jaer.1993.1020
Sdahl M., Kuhlenkoetter B., 2006. CAGD-computer aided gripper design for a flexible gripping system. Intl J Adv Robot Syst 2(2), 135-138.
Seliger G., Stephan J., 1998. Flexible garment handling with adaptive control strategies. Proc 29th Intl Symp Robot, Birmingham, Alabama, USA, pp. 483-487.
Seliger G., Stephan J., Lange S., 2000. Non-rigid part handling by new gripping device. Proc 8th Intl Conf Manuf Eng, ICME2000, Sydney, Australia. pp. 423-427.
Setiawan A.I., Furukawa T., Preston A., 2004. A low-cost gripper for an apple picking robot. Robotics and Automation. Proc ICRA, New Orleans, Lousiana, USA, pp. 4448-4453.
Sharma M., Mohsenin N., 1970. Mechanics of deformation of a fruit subjected to hydrostatic pressure. J Agr Eng Res 15, 65-74. http://dx.doi.org/10.1016/0021-8634(70)90111-3
Stone R., Brett P., 2002. A flexible pneumatic actuator for gripping soft irregular shaped objects. Innovative actuators for mechatronic systems, IEE Colloquium Flexible Pneumatic Actuator for Gripping 170, 13/1-13/3.
Studman C., 2001. Computers and electronics in postharvest technology-a review. Comput Electron Agr 30, 109-124. http://dx.doi.org/10.1016/S0168-1699(00)00160-5
Van Henten E., Van Tuijl B., Hemming J., Kornet J., Bontsema J., Van Os E., 2003. Field test of an autonomous cucumber picking robot. Biosyst Eng 86, 305-313. http://dx.doi.org/10.1016/j.biosystemseng.2003.08.002
Van Henten E., Van't Slot D., Hol C., Van Willigenburg L., 2009. Optimal manipulator design for a cucumber harvesting robot. Comput Electron Agric 65, 247-257. http://dx.doi.org/10.1016/j.compag.2008.11.004
Van Zeebroeck M., 2005. The discrete element method (DEM) to simulate fruit impact damage during transport and handling. Doctoral thesis. Katholieke Universiteit, Leuven.
Van Zeebroeck M., 2007. The effect of fruit factors on the bruise susceptibility of apples. Postharvest Biol Technol 46, 10-19. http://dx.doi.org/10.1016/j.postharvbio.2007.03.017
Wallin P.J., 1997. Robotics in the food industry: An update. Trends Food Sci Technol 8, 193-198. http://dx.doi.org/10.1016/S0924-2244(97)01042-X
Wilson M., 2010. Developments in robot applications for food manufacturing. Ind Robot 37, 498-502. http://dx.doi.org/10.1108/01439911011081632
Wurdemann H., Aminzadeh V., Dai J., Reed J., Purnell G., 2011. Category-based food ordering processes. Trends Food Sci Technol 22, 14-20. http://dx.doi.org/10.1016/j.tifs.2010.10.003
Zhong Z., Yeong C., 2006. Development of a gripper using SMA wire. Sensors and Actuators A: Physical 126, 375-381. http://dx.doi.org/10.1016/j.sna.2005.10.017
Zhu T., Liu R., Wang X., Wang K., 2006. Principle and application of vibrating suction method. Intl Conf Robotics and Biomimetics, Kunming, China. pp. 491-495. PMid:16865248
© CSIC. Los originales publicados en las ediciones impresa y electrónica de esta Revista son propiedad del Consejo Superior de Investigaciones Científicas, siendo necesario citar la procedencia en cualquier reproducción parcial o total.
Salvo indicación contraria, todos los contenidos de la edición electrónica se distribuyen bajo una licencia de uso y distribución “Creative Commons Reconocimiento 4.0 Internacional ” (CC BY 4.0). Consulte la versión informativa y el texto legal de la licencia. Esta circunstancia ha de hacerse constar expresamente de esta forma cuando sea necesario.
No se autoriza el depósito en repositorios, páginas web personales o similares de cualquier otra versión distinta a la publicada por el editor.
