An anthropometric study for the anthropomorphic design of tomato harvesting robots

Li, Zhigu1,3; Miao, Fengli2; Yang, Zhibo2; Wang, Hongqiang4

2019-08

10.1016/j.compag.2019.104881

COMPUTERS AND ELECTRONICS IN AGRICULTURE   影响因子和分区

0168-1699

1872-7107

To explore how humans can dexterously pick fruits of various sizes from a tomato plant from different positions and postures, some anthropometric dimensions related to the hand-harvesting of the fruits were determined within 261 volunteers, and their correlations were investigated using a bivariate correlation analysis method. The heights of the body (stature), shoulder tip, waist and knee of participants ranged from 111.2 to 193.6, 87.5 to 163.0, 62.1 to 117.3, and 31.0 to 56.0 cm, respectively; the ratios of the knee height, waist height, and shoulder tip height to the stature were 0.25-0.33, 0.52-0.65, and 0.76-0.87, respectively; the shoulder tip breadth, upper limb length and foot length of participants ranged from 26.0 to 48.5, 45.4 to 85.6, and 19.5 to 28.0 cm, respectively; and the length ratios of the hand, forearm, and upper arm to the upper limb were 0.23-0.31, 0.29-0.38, and 0.35-0.45, respectively. There were high linear correlations among the stature, waist height and knee height, between the forearm and hand lengths, and among the stature, hand length and arm length and moderate linear correlations between most hand dimensions. These human body dimensions determine the upper limb workspace, body balance, working comfort and lower limb movement frequency during picking, and this information will be useful for the bionic dimensional synthesis design of a harvesting robotic arm, walking mechanism and body. The results of multiple comparisons in ANOVA showed that there were significant differences between some of the finger dimensions and between some of the hand-scaling dimensions, which is one of the main features enabling the human hand to pick various sizes of fruits. This study can provide guidance and inspiration for the anthropomorphic design of robotic tomato-harvesting end-effectors.

Anthropometric measurement Body dimensions Hand-scaling dimensions Anthropomorphic design Tomato-harvesting robot

SCI ; EI

英语

其他

Key Research and Development Plan of Shaanxi Province[2019NY-172]

Agriculture ; Computer Science

Agriculture, Multidisciplinary ; Computer Science, Interdisciplinary Applications

WOS:000481565800035

ELSEVIER SCI LTD

20192807165147

Anthropometry ; Anthropomorphic robots ; End effectors ; Harvesting ; Machine design ; Robotic arms ; Robotics

Biomechanics, Bionics and Biomimetics:461.3 ; Mechanical Design:601 ; Robotics:731.5 ; Agricultural Methods:821.3 ; Agricultural Products:821.4

COMPUTER SCIENCE

Web of Science

1.Northwest A&F Univ, Coll Mech & Elect Engn, Yangling 712100, Shaanxi, Peoples R China
2.Henan Polytech Univ, Sch Mech & Power Engn, Jiaozuo 454003, Henan, Peoples R China
3.Univ Birmingham, Sch Chem Engn, Birmingham B15 2TT, W Midlands, England
4.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China

Li, Zhigu,Miao, Fengli,Yang, Zhibo,et al. An anthropometric study for the anthropomorphic design of tomato harvesting robots[J]. COMPUTERS AND ELECTRONICS IN AGRICULTURE,2019,163.

Li, Zhigu,Miao, Fengli,Yang, Zhibo,&Wang, Hongqiang.(2019).An anthropometric study for the anthropomorphic design of tomato harvesting robots.COMPUTERS AND ELECTRONICS IN AGRICULTURE,163.

Li, Zhigu,et al."An anthropometric study for the anthropomorphic design of tomato harvesting robots".COMPUTERS AND ELECTRONICS IN AGRICULTURE 163(2019).