Work

A Novel Telescopic Cartesian Manipulator for Kiwifruit Harvesting with Hybrid Model–Vision Error Compensation

Year: 2026

Type: article

Abstract: Crops cultivated on trellis systems, such as kiwifruit, grapes, et al., create a partially structured workspace; this environment is highly suitable for Cartesian robotic harvesting. However, limited extension range of current Cartesian manipulators necessitates a large vertical space, which directly conflicts with the height constraints of trellis canopies. This paper presented a hollow telescopic Cartesian manipulator with a belt-driven cascaded differential transmission for single-degree-of-freedom kiwifruit operations. The two-stage nested carbon fiber structure offers an extension ratio of 1.83:1 and a 549 mm retracted length, requiring 45.36% less vertical space than its single-stage architecture. The hybrid model–vision error compensation (HMVEC) strategy is proposed to address nonlinear positioning errors inherent in the cantilever telescopic configuration. It combines a polynomial–Fourier kinematic model for feedforward correction with YOLO11n AprilTag detection. The results showed the HMVEC strategy reduced the positioning root mean square error (RMSE) by 42.28% (from 7.90 mm to 4.56 mm). The designed manipulator achieved a 95% kiwifruit-transfer success rate at a mean cycle time of 4.8 s per fruit. These results demonstrate the feasibility of the proposed structural design and HMVEC strategy for precise manipulator positioning and post-detachment fruit transfer.

Source: Agriculture

DOI: 10.3390/agriculture16151673