End effector for harvesting
An end effector includes a cutting mechanism, a gripping mechanism, and a pivot component. The cutting mechanism and the gripping mechanism are coupled to the pivot component. The cutting mechanism is coupled to a first portion of the pivot component and the gripping mechanism is coupled to a second portion of the pivot component.
1. An end effector, comprising:
a cutting mechanism that includes a cutting set of jaws;
a gripping mechanism that includes a gripping set of jaws;
a pivot component, wherein the cutting mechanism and the gripping mechanism are coupled to the pivot component, wherein the cutting mechanism is coupled to a first portion of the pivot component and the gripping mechanism is coupled to a second portion of the pivot component;
an actuation connection structure, wherein the actuation connection structure includes a straight portion and a loop portion, wherein the loop portion of the actuation connection structure is coupled to the cutting mechanism via slot openings associated with the cutting mechanism and coupled to the gripping mechanism via slot openings associated with the gripping mechanism, wherein a width of the slot openings associated with the cutting mechanism is less than a width of the slot openings associated with the gripping mechanism; and
an actuator coupled to the actuation connection structure and configured to apply a force to the actuation connection structure that causes the cutting mechanism and the gripping mechanism to close in parallel.
2. The end effector of claim 1 , wherein the first portion is a top portion of the pivot component and the second portion is a bottom portion of the pivot component.
3. The end effector of claim 1 , wherein the first portion is a bottom portion of the pivot component and the second portion is a top portion of the pivot component.
4. The end effector of claim 1 , further comprising a bias mechanism, wherein the bias mechanism is coupled to the gripping mechanism.
5. The end effector of claim 4 , wherein the bias mechanism is configured to apply to the gripping mechanism a bias force within a threshold amount.
6. The end effector of claim 4 , wherein the bias mechanism is a spring.
7. The end effector of claim 4 , wherein the bias mechanism is preloaded with a particular amount of force within a threshold amount of force.
8. The end effector of claim 4 , wherein the bias mechanism is coupled to a bias limiting component.
9. The end effector of claim 8 , wherein the bias limiting component includes a groove portion.
10. The end effector of claim 9 , wherein the groove portion is U-shaped.
11. The end effector of claim 9 , wherein the groove portion allows the loop portion of the actuation connection structure to pass through the slot openings associated with the gripping mechanism.
12. The end effector of claim 1 , further comprising a housing, wherein the actuation connection structure, a proximal end of the cutting mechanism, and a proximal end of the gripping mechanism are located within the housing.
13. The end effector of claim 1 , wherein in response to the force from the actuator, the actuation connection structure causes the gripping mechanism to grip an appendage of a plant.
14. The end effector of claim 13 , wherein in response to the force from the actuator, the actuation connection structure causes the cutting mechanism to perform a cut of the appendage, wherein the appendage is split into a first appendage portion and a second appendage portion, wherein the gripping mechanism is configured to grasp the second appendage portion.