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Sweet potato is a crop which is drought-resistant, tolerant of poor soil, and owns increasingly enormous potential. It is an important foodstuff, a raw material for starch industry, a kind of health food to prevent cancer and a new raw material for energy as well. The sweet potato planting area in China per year on average is usually 3 667 000 hectares, accounting for 45% of the world's planting area. As sweet potato vines are very long and broomy, the vines must be cleaned up before sweet potatoes are harvested, otherwise are unable to be harvested. Vine crushing and returning machine is usually the dominant form adopted to clean sweet potato vines internationally, but the problems existed in this type of machine were obvious such as low smashing proportion and more stubble residue on the top ridge. New problems have been brought by long stubble such as blocking, larger load and worse smooth working property. Aiming at these problems, the machinery and agronomy should be combined, in order to prove mechanical properties of sweet potato vine and stalk during harvest and working quality of sweet potato vine crushing and returning testing machine. In this paper, the types of fresh purple sweet potato Ningzi 1 and Ningzi 2 in Nanjing, Jiangsu Province were regarded as the tested subject, the electronic universal testing machine, electric drying oven with forced convection, and sweet potato vine crushing and returning testing machine etc. were applied, and the change of moisture percentage and shear strength of sweet potato stalk during harvest were studied. The results showed that at the beginning of experience harvest period, when the percentage of moisture were 81.5% and 78.1%, the shear force were 90.1 and 94.8 N, respectively, during 18 testing days the moisture percentage of sweet potato stalk reduced by 14.8% and 13.97%, respectively, but the shear force of stalk increased by 36.3 and 37.5 N respectively, which showed that the moisture percentage of sweet potato stalk was lower and the shear force was larger as the growth time of plants went on. The internal relations between mechanical crushing quality and percentage of moisture, shear strength were revealed: during the testing period of 18 days, the qualified rates of vine's crushing length for sweet potato type Ningzi 1 and Ningzi 2 dropped by 6.3% and 6.7% respectively, stubble length on top ridge increased by 3.6 and 4.4 cm respectively, which showed that with the increasing of the growth period and the rising of stalk's shear force, the working quality of sweet potato vine crushing and returning machine declined. The quadratic function regression equations on the change between shearing force and moisture percentage of the two types of fresh purple sweet potatoes' stalk were obtained with Matlab when the percentage of moisture was 86.92%-70.08%, and the fitting coefficient of determination R² both reached above 0.99. From the point of increasing the quality of mechanical smashing and mechanical work, it was put forward that the most suitable time of mechanical crushing for the two kinds of purple sweet potatoes during harvest was about 6-8 days, which was a relatively short time. The results offer the direct basis for parameter design of new sweet potato vine crushing and returning testing machine such as machine speed, cutter linear velocity, and also provide the important reference for the selection of suitable harvest period and cultivation agronomic research that fits for machinery operations. [ABSTRACT FROM AUTHOR]

The stem tip of vegetable sweet potato is an excellent nutritious and healthy food, which is widely used in many countries. It’s estimated that the total value of Chinese vegetable sweet potato’s market is about tens of billions of yuan, which means it has a promising future. Due to the difficulties of the long harvest period, high harvest requirement, and low mechanized level, the high cost and low efficiency in harvest is prominent. As such, it decreases the motivation of the farmers deeply. Also, the market still has a strong need for the stem tip harvester urgently. In order to fill the blanket in the mechanized harvest on stem tips of vegetable sweet potatoes in China, and to solve the current problems, in this research, we designed a stem tip harvester for vegetable sweet potatoes in combination with agronomy, which was composed of the reeling, cutting, conveying and collecting devices. It could finish cutting, conveying and collecting the stem tips for vegetable sweet potatoes every single row in one operation. In this paper, we introduced the harvester’s working theory based on analyzing the whole machine’s mechanical structure. To improve the integrity rate of stem tip, to lower the missing rate in cutting, to lower the stubble height and to improve the harvester’s working quality, we did a test on the harvester’s working parameters, using Box-Benhnken's central combination test method based on the single factor test. Three-level quadratic regression orthogonal experimental design was done through the forward speed, the reel speed and the reciprocating cutter line speed. The model of response surface was established to research and analysis the machine’s working quality due to different factors. Finally, the optimization of machine operation parameters was realized. The results showed that the prominent order in the stem tips’integrity rates was the reel speed > the reciprocating cutter line speed > the forward speed. The prominent order in the stem tips’missing rate was the forward speed > the reciprocating cutter line speed > the reel speed. The prominent order in the stem tip’s stubble height was the reel speed > the forward speed > the reciprocating cutter line speed. In 2019, the test was done in three times to verify the model’s correction in Baiba test base, Nanjing Research Institute for Agricultural Mechanization. The field test results showed the optimal working parameters were the forward speed 0.38 m/s, the reel speed 26 r/min, and the reciprocating cutter line speed 0.60 m/s. The integrity rate of stem tips was 97.10%, the missing rate was 12.11%, and the stubble height was 62.09 mm. The error was in the range of 5% compared to the theoretical optimization. Compared with the single manual picking efficiency of 0.001 hm²/h, the operating efficiency of this machine can reach 0.1 hm²/h, The operation effect of the machine was obviously improved compared with that of manual operation, better to meet the requirements of the vegetable sweet potatoes’stem tips machinery harvesting. The test research supplies a strong support and theoretical basis to the mechanical development of the harvester for vegetable sweet potatoes’stem tips. [ABSTRACT FROM AUTHOR]

Fruit and vegetable picking grippers are important technology to achieve rapid and labor-saving harvest. However, most of the existing fruit and vegetable picking grippers still use traditional rigid or underactuated grippers, which often cause fruits and vegetables damage by the heavy mass and lack of high-precision control, and have poor compliance in the operation process. In recent years, inspired by soft creature’s tentacles, soft robotic grippers have appeared and been used in robotics due to the emergence of soft robots. Soft robotic gripper, which is made of flexible material, is a new type of gripper for general purposes with grasping and holding capabilities enabled by a simple control scheme. Under the infinite degrees of freedom, the soft robotic gripper can change its shape and size corresponding to the load in a large range. These advantages overcome the defects of traditional fruit and vegetable picking robots, such as rigidity and poor adaptability. Moreover, soft robotic gripper is easy to manufacture and can be integrated with manual operation without any large-scale safe requirement. This paper gives a research on limitations of the traditional grippers and summarizes the characteristics of ideal picking grippers of fruit and vegetable. In addition, the concept of soft robotic grippers is introduced in detail, and the current development status about soft robotic grippers is described. The manuscript also summarizes the progress and superiority of soft robotic grippers in fruit and vegetable picking as well as strong adaptability to the environment. The characteristics of the soft robotic grippers driven by the common driving mode including pneumatic, cable, shape memory alloy and electroactive polymer mode have been analyzed in the process of fruit and vegetable grasping and picking. Compared with the rigid grippers, in addition to the simple control and mechanism, the soft robotic grippers have high-degree flexibility, adaptability and versatility. Based on the related work, the problems of modeling and control of fruit and vegetable picking devices have been discussed, and possible solutions of soft robotic grippers are also summarized by means of analysis and classification. We can choose the appropriate control methods according to the surface characteristics of picked fruits and vegetables. Finally, we conclude that multi-sensing, variable stiffness, multi-functional composite materials, as well as control strategies of fusion intelligence will be future development directions of fruit and vegetable picking grippers with the progress of micro-sensors and biomaterials. This research will provide theoretical and technical guidance for the development of fruit and vegetable picking grippers. It is expected that more fruit and vegetable picking operations could be carried out by soft robotic grippers, and the application will effectively reduce the damage rate of fruit and vegetable picking. As a new-generation operating device, the soft robotic grippers involve the development of materials, chemistry, machinery and other multidiscipline. Further studies are required to improve its design, controllability, manipulating methods, and so on. [ABSTRACT FROM AUTHOR]