ホウレンソウ自動収穫機の根切り刃に作用する地盤反力推定モデルの構築とその評価

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  • Evaluation of the Estimation Model for the Reaction Force Acting on the Cutting Blade of Spinach Harvester

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<p>The aging society has required automatic harvesting equipment in Japan. Spinach is one of the difficult vegetables to harvest by automated equipment. Automated harvesters using the passive handling method can manage a wide range of soil and species of spinach. The soil reaction force acting on its cutting blade is crucial for designing its cutting path and equipment. However, theoretical consideration for the relationship between the blade and reaction force from the soil has remained insufficient. Therefore, this paper constructs the theoretical model using the resistive force theory including the shear force. Then, this paper estimates the reaction force of the cutting blade. The results showed that the constructed model captures the experimental trend of the reaction force according to its arm angle. Furthermore, the error rate between the experiment and the estimated result was less than approximately 20%</p>

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