Engineering

Korean Journal of Agricultural Science. 1 December 2024. 497-511
https://doi.org/10.7744/kjoas.510408

ABSTRACT


MAIN

  • Introduction

  • Materials and Methods

  •   Overview and working principle of sliding-type picking mechanism

  •   Modelling requirements of automatic seedling picking mechanism

  •   Theoretical analysis

  •   Simulation of the sliding pin and bar picking mechanism

  • Results and Discussion

  •   Position of the end-effector

  •   Trajectory of the end-effector

  •   Velocity and acceleration of the end-effector

  • Conclusion

Introduction

Pepper (Capsicum annuum L.) is a horticulture crop grown for multiple purposes, including human consumption and biological functions (Syamilah et al., 2022). Pepper is a source of provitamins A, E, and C rich in carotenoid and phenolic compounds with a distinct aromatic flavor, which is critical for metabolism and disease prevention (Younes and Mustafa, 2023). Pepper belongs to the Solanaceae family and the genus Capsicum, which is composed of 31 species. Five common domestic Solabaceae pepper species are C. annuum, C. baccatum, C. chinense, C. frutescens, and C. pubescens, among them C. annuum is the most commercialized (Medalcho et al., 2023).

Global pepper production was estimated to be 520,000 tons compared to a demand of 530,000 tons in 2022/2023, and Vietnam was the top-producing country with around 205,000 tons, followed by Brazil with 112,000 tons and India with 64,000 tons (Nedspice, 2023). Labor scarcity has led to a notable decline in pepper production and areas under cultivation in several countries, resulting in a production shortfall for consumers (Gobie, 2019). South Korea experienced a notable decrease in pepper production and cultivation between 2013 and 2021, with yields falling from 117.8 thousand tons to 92.8 thousand tons and from 45.4 thousand hectares to 33.4 thousand hectares of land (KOSTAT, 2022). In 2022, pepper mechanization rates in South Korea were 99.6% for tillage, 0% for planting, 87.8% for pest control, and 0% for harvesting (RDA, 2023). A feasible way to address the labor shortage and increase pepper production would be to use transplanters, which can plant 500 to over 1,000 seedlings per hour as opposed to 100 to150 seedlings when transplanting by hand (Muragi and Sajjan, 2019; Periasamy et al., 2021; Khater et al., 2023).

The pepper transplanter consists of extracting the seedling from the nursery tray in a repetitive way, transfers it to a conveying mechanism, releases it onto a planting device, and then plants it in the soil (Habineza et al., 2023). The picking mechanism is an essential part of the planting process that moves the maximum amount of root mass of the seedling without harming the roots, stems, or leaves and ensures the proper planting trajectory, which directly impacts crop growth (Zhao et al., 2020; Periasamy et al., 2022). A successful seedling extraction process considers the agronomic characteristics of the seedling and the mechanical design of the picking component (Han et al., 2023a). The picking angle toward the seedling tray and the moisture content of the seedling medium enable the smooth picking mechanism (Zhang et al., 2022). The necessary picking angle with respect to the tray cell must be smaller than the taper of the tray cell, and the moisture content level of the seedling medium must be controlled as low-moisture lumps are easily crushed, while wet root lumps are soft and may make it difficult for the picking component to grasp the seedlings and hold onto the surrounding soil (Liu et al., 2019). According to Ryu et al. (2001), the ideal values of the root lump moisture content ranged from 55% to 65%, with a success ratio of more than 90%. Mao et al. (2014) developed a pincette-type pick-up device for automatic transplanting seedlings; the optimal root lump moisture content ranged from 55% to 60% with a success ratio of 90.71%. Companies developed the two types of seedling pick-up devices for vegetable transplanters that are the most popular in Korea and Japan. One type extracts the seedling from the cell by using a complex mechanism consisting of a slider, cam, and links to create a cross path, whereas the other type moves the pick-up pin in an open, counter-clockwise loop towards the lower part of the cell surface (Sivakumar and Durairaj, 2014). The purpose of this study was to conduct the kinematic analysis of the sliding-type automatic picking mechanism of a pepper transplanter prototype through a theoretical simulation analysis for efficient seedling transplanting.

Materials and Methods

Overview and working principle of sliding-type picking mechanism

Three-dimensional (3D) model of a pick-up device was designed to evaluate the automatic seedling picking mechanism. The entire picking mechanism consisted of driving link, connecting link, driven link, fixed slot, slider, and an end-effector holding pins that worked by sliding motion to move the seedlings from the cell tray and releasing them into the conveying section. The planting hopper received the seedlings from the cylinder cups of the conveying mechanism, planting them in the soil and covering the surrounding area of the planted seedling. The whole transplanting mechanism worked in a repetitive, revolutionary way, following the engine operation and transplanter setting. Figs. 1 and 2 illustrate the major parts of the automatic pepper transplanter prototype and the description of the working principle, respectively.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F1.jpg
Fig. 1.

(A) 3D model of the seedling picking mechanism with the main parts, and (B) Parts picking device (end-effector): (a) pick-up pins or needle, (b) seedling pusher, (c) connecting piece, (d) connecting block, (e) pivot arm, (f) compression spring, (g) coupling, and (h) frame.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F2.jpg
Fig. 2.

Overview of working principle of automatic pepper transplanting mechanism.

Modelling requirements of automatic seedling picking mechanism

Seedling picking components

The picking mechanism was modeled based on the agronomic traits of the pepper seedling and mechanical features of the picking components to ensure a successful seedling transplanting while avoiding damage to the root, stem, or leaves. The pepper seedling should be grown for 45 days in a controlled moisture content of the seedling medium to acquire the necessary height, stem diameter, and leaf area to enable the smooth picking process (Iqbal et al., 2022). The seedling picking components should be flexible for angle adjustments toward the seedling tray to ensure the survival rate and minimize bruise damage when picking the seedling (Han et al., 2023b). The designed picking component was 5-bar linkage type corresponding to a driving link, a driven link, a connecting link, a slider, and an end-effector. The end-effector was fastened with a pair of pins that extracted the seedling from the growing medium to gently grasp, hold, lift, and release the seedling into the cylinder cup of the conveying device by the sliding motion. The overall dimension of the tray cell considered was (280 mm × 540 mm) arranged into 6 × 12 (72 seedlings), with the cell dimension being 45.8 mm in height, 40 mm on the top, and 20 mm at the bottom. The cylinder cup of the conveying device measured 57 mm in height, 27 mm in diameter at the top, and 18 mm in diameter at the bottom. Fig. 3 illustrates the seedling picking components.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F3.jpg
Fig. 3.

(A) Structure of automatic seedling pick-up mechanism: (a) Initial position of end effector, (b) Seedling extraction point, and (c) Seedling release point; (1) driving link, (2) driven link, (3) connecting link, (4) slider, and (5) end-effector; (B) Seedling tray, and (C) Seedling conveying mechanism: (i) cylinder cup, (ii) rotating plate, (iii) cylinder cup cover, (iv) shaft, and (v) base ring.

Seedling picking process

Transplanting process is initiated when the engine starts and the transplanting throttle lever engaged, which transmits the power to the end-effector via the driving, driven, and connecting links. The tractive action of the pivot arm enabled the connecting piece to push the pick-up pins in the direction of the seedling, allowing them to enter the tray cell wall through the root lump. The spring tension forced the coupling ring to deflate and contract, which permits the pivot arm to close for pulling the seedling from the growing tray cell and open to release the seedling to the conveyor section. The gasket of the pivot arm modulated the opening to effectively grasp, hold, and release the seedlings. Assuming that the pick-up pins were symmetric, and the root lump was equilateral, the relationship between the pick-up pins and the tray cell for seedling grasping can be calculated as described in Fig. 4A as Eq. (1).

(1)
LAB=d2-2u1LCD=d1-2u2

where, LAB, LCD are the corresponding pickup parameter dimensions with d1 and d2 with lengths at the lower side and the upper side of the seedling root zone respectively. u1 and u2 are the side distances from the upper and lower pick-up pin inlets to the hole, respectively, mm.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F4.jpg
Fig. 4.

(a) Schematic drawing of seedling picking process, and (b) Main parts of the seedling. β is the upright inclination of pickup pin along the grasping direction, (LAB and LCD) are pickup parameter dimensions with d1 and d2 the lengths at the lower side and the upper side of the seedling root zone, (L1 and L2) are the heights of the root lump and vertical distance from the end of the pick-up pin to the hole bottom, and FG is the gravity.

The inclination angle of the pick-up pin toward the seedling picking tray was set as β, and the pick-up pins penetration depth can be calculated as Eq. (2).

(2)
LAC=L1-L2sinβ

where, L1 is the height of the root lump, L2 is the vertical distance of the pick-up pins to the tray cell bottom, and β is the angle of the seedling picking inclination, and LAC represented the depth of picking pin penetration.

Seedling picking trajectory

The trajectory of seedling picking involves the motion of the end-effector from the initial position towards the seedling cell tray forming an angle close to 90°, lifting, and moving the seedling to the release point on the conveying device. When picking up seedlings, the pick-up pins opening should always be smaller than the bottom width and top of the tray cell to squeeze and hold the root lump firmly at the maximum penetration depth (Habineza et al., 2024). Pick-up pins gradually close within the cell edges to move the seedling from the tray when the slider moves to the left along the same straight path as the initial position end-effector. When the slider reaches the end of the straight-line path, it switches to the circular path, which is the rotational center of the driven link. The seedling is released from the end-effector into the conveying device at the end of the circular path, where the seedling is dropped into the cylinder cup and the slider returns to the initial position, forming a curved trajectory. Fig. 5 describes the motion of the end-effector and position of pick-up pins to generate the seedling picking trajectory.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F5.jpg
Fig. 5.

Seedling picking mechanism steps: (A, B) Position of pick-up pins and motion trajectory of the end-effector, respectively: (i) End-effector at initial position, (ii) End-effector moving toward the seedling tray, (iii) pick-up pins enter picking the seedling root at extraction point, (iv) Picked seedling for transplanting, and (v) Seedling at discharge point.

Theoretical analysis

Position analysis of the end-effector

The motion of the sliding pin and bar picking mechanism was investigated to select the appropriate link combination of the mechanism that gives the required seedling picking trajectory. The mathematical equations were developed based on length combination of bar links using a vector loop-model. Driving link, driven link, connecting link and fixed link controlled the position of the end-effector. The trace path trajectory reflected the motion of the seedling-picking mechanism, where the end-effector extracts the seedling from the cell tray at point (E), carries it, and drops it at the conveying unit at the point (D). Fig. 6 represents the developed vector-loop model of the transplanting mechanism.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F6.jpg
Fig. 6.

Kinematic representation and motion trace path trajectory for seedling picking.

where, L1, L2, L3, L4 and L5 are the lengths of the driving link, the connecting link, the driven link, the end-effector, and the fixed link, respectively. α1, α2, α3, α4, β, θ are the angles with respect to the horizontal for the driving link, connecting link, driven link and for the end effector, and ω is the angular velocity of the links and velocity. The vector loop equations for the end-effector motion of the sliding pin and bar mechanism are shown as Eqs. (3), (4), (5), (6), (7).

(3)
θ=π-α3β=π2-θ

At point A,

(4)
XA=L1cosα1YA=L1sinα1

At point B,

(5)
XB=L2cosα2+L1cosα1YB=L2sinα2-L1sinα1

At point C,

(6)
Xc=a-L0cosθYc=b-L0sinθ

At point D,

(7)
XD=-L0cosθ+L3cosβ+L4cosβYD=b-L0sinθ-L3sinβ-L4sinβ

Velocity and acceleration of the end-effector

The length and size combinations of the bar links were substituted in the mathematical model of the transplanting mechanism to calculate the corresponding values of velocities and acceleration of the end effector. Velocity and acceleration can be calculated using the first- and second derivatives of the vector loop equations. Therefore, Eqs. (8) and (9), can be used to calculate the velocity and acceleration of the suggested seedling picking mechanism in the X and Y directions, respectively as Eqs. (8) and (9).

(8)
-L1sinα1ω1-L2sinα2ω2-L3sinα3ω3-L4sinα4ω4=vxL1cosα1ω1+L2cosα2ω2+L3cosα3ω3+L4cosα4ω4=vy
(9)
-L1ω2cosα1ω1-L2ω2cosα2ω2-L3ω2cosα3ω3-L4ω2cosα4ω4=ax-L1ω2sinα1ω1-L2ω2sinα2ω2-L3ω2sinα3ω3-L4ω2sinα4ω4=ay

where, ω is the angular velocity of the links and the velocity and acceleration of the fixed link (L5) are zero.

Simulation of the sliding pin and bar picking mechanism

A kinematic simulation of the sliding pin and bar-picking mechanism was carried out to verify the mathematical model and select the optimal link combination that produced the necessary seedling transplanting trajectory. A 3D model of the picking mechanism was developed using a commercial software (Dassault Systems SolidWorks Corp., USA) to determine the kinematic parameters of the proposed picking mechanism. The software was used to ascertain the impact of end-effector kinematic characteristics (position, velocity, acceleration, torque, and links length) for successful seedling transplanting. During the simulation, ten link combination trials was conducted to select the optimal length links combination for smoothly moving the seedling from the cell tray to the conveyor mechanism without harming the seedling. Six rotational speeds (10, 20, 30, 40, 50, and 60 rpm) were also considered to evaluate the input motor torque needed to drive the picking device. The simulation could verify the results of the theoretical analysis, the design of the mechanism, and the trajectory that satisfies the requirements for seedling transfer. The simulation made assumed that the picking device cover and other components were made of alloy steel 102. The physical properties of steel alloy included density, modulus of elasticity, Poisson’s ratio, yield strength, with 7.85 × 103 kg·m-3, 207 GPa, 0.3, and 210 MPa, respectively. Fig. 7 illustrates the flowchart of kinematic simulation using a commercial software.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F7.jpg
Fig. 7.

Kinematic simulation flowchart of the sliding pin and bar picking mechanism.

Results and Discussion

Position of the end-effector

Motion of the end-effector toward the seedling tray and from the cell tray to the seedling release point was considered ideal distance from initial position of the end-effector and tray cell as well as the ideal distance at seedling release point for safe seedling transplanting. The input motion was applied to the driving link from the engine, which was distributed to both the drive gearbox and the auxiliary gearbox through the sprocket drive. The power is then supplied to the driven link through the connecting link and channelled to the end-effector via the slider. To select the appropriate position of the end-effector, ten simulation trials was conducted at a constant motor speed of 30 rpm and constant length of fixed link of 140 mm. The simulation results were displayed in Fig. 8A, where the yellow mark points indicated the position of the seedling in the tray cell. The optimal distance between the initial position of end-effector and seedling tray to the seedling release point was 88.04 mm, and 131.70 mm, respectively. Below or above 88.04 mm distance from end-effector to the seedling tray cell, the end-effector could not pick up the seedling. Table 1 illustrates the simulation trials distances of the initial position of the end-effector to the seedling tray. Fig. 8 illustrate the simulation positions of the end-effector toward the seedling tray and graphic representation, respectively.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F8.jpg
Fig. 8.

(A) Simulation results of the 3D model of the end-effector towardtthe seedling tray, and (B) Combined-distance based on optimal position graph of end-effector toward the seedling tray.

Table 1.

Position of the end-effector toward the seedling tray and seedling release points.

Trial 1 2 3 4 5 6 7 8 9 10
Position of end-effector
(mm)
60.89 64.18 71.33 74.88 82.1 88.04 94.15 97.26 108.16 115.1

Trajectory of the end-effector

The seedling picking trajectory was considering the length combination of the picking mechanism components and the location of seedling tray. To select the best length combination, ten simulation trials of different lengths of the driving link, connecting link, driven link, and end-effector was conducted as shown in Fig. 9A. Also, the distance from the initial position of the end-hopper toward the seedling tray and the distance of seedling motion from the tray to the release was evaluated as illustrated in the Table 2. The optimal link length combination was 54 mm, 106 mm, 116 mm, 114 mm, and 140 mm for driving link, connecting link, driven link, end effector and fixed link respectively. The optimal distance between the initial position of the end-effector and seedling tray was 43.66 mm, and the optimal distance from the peak point to seedling release is 88.04 mm while the optimal picking angle was 126.3°. Table 2 represent the results of length links combination trials and the distance between the initial position of end-effector toward the seedling and from seedling tray to the release point. Fig. 9 represents the seedling picking trajectories at different link length combinations.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F9.jpg
Fig. 9.

(A) Simulated picking trajectory curves at different length combinations, and (B) Optimal seedling picking curves.

Table 2.

Trials of the picking mechanism link length combinations, distances between the end-effector and the seedling tray (A), and the seedling tray to the discharge point (B).

Trial Driving
link
(mm)
Connecting
link
(mm)
Driven
link
(mm)
End
effector
(mm)
Fixed
link
(mm)
Distance
(A)
(mm)
Distance
(B)
(mm)
(A + B)
(mm)
Angle
(A - B)
θ (°)
1 44 116 106 124 140 60.89 43.31 104.20 124.8
2 46 114 108 122 140 64.18 45.21 109.39 122.7
3 48 112 110 120 140 71.33 43.37 114.70 125.3
4 50 110 112 118 140 74.88 43.76 118.64 127.6
5 52 108 114 116 140 82.10 43.81 125.91 125.1
6 54 106 116 114 140 88.04 43.66 131.70 126.3
7 56 104 118 112 140 94.15 43.90 138.05 126.2
8 58 102 120 110 140 97.26 45.94 143.20 127.1
9 60 100 122 108 140 108.16 43.24 151.40 129.4
10 62 98 124 106 140 115.10 43.68 158.78 128.4

Velocity and acceleration of the end-effector

The kinematic modelling of a seedling picking device was conducted using the simulated motion of pick-up pins, considering the X-Y coordinates to determine the velocity and acceleration as well as the necessary input driving torque. The seedling was moved by the pick-up pins in a counterclockwise direction from the tray cell to the discharge point, forming a peak angle of 126.3° at 30 rpm of driving link speed with the picking rate of 30 seedlings per minute. The peak velocity and acceleration of the end effector in ‘X’ and ‘Y’ directions for appropriate link combination were found as 0.274 m·s-1, 0.199 m·s-1 and 2.94 m·s-2, 8.249 m·s-2 respectively. If the velocity were increased further, then the peak acceleration could not likely be reduced without also affecting the extracting and discharging of seedlings. The seedling was discharged at the peak input driving torque of 2,700 Nm. Table 3 represent the maximum velocity and acceleration values of the end-effector for different length link combinations. Figs. 10 and 11 illustrate the velocities and acceleration of end effector at different link length combinations.

Table 3.

Maximum velocity and acceleration of the end-effector for different link combinations.

Trial Velocity-X (m·s-1) Velocity-Y (m·s-1) Acceleration-X (m·s-2) Acceleration-Y (m·s-2)
1 0.205 0.157 1.436 5.232
2 0.216 0.149 1.604 6.376
3 0.231 0.176 1.426 6.365
4 0.245 0.179 1.542 6.508
5 0.257 0.176 2.448 8.641
6 0.274 0.199 2.94 8.249
7 0.288 0.207 3.291 9.179
8 0.31 0.208 3.769 13.434
9 0.313 0.202 5.086 14.9
10 0.344 0.241 10.254 15.024

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F10.jpg
Fig. 10.

Velocities of end effector at different link length combinations.

https://cdn.apub.kr/journalsite/sites/kjoas/2024-051-04/N0030510408/images/kjoas_2024_514_497_F11.jpg
Fig. 11.

Accelerations of end-effector at different link length combinations.

The findings of this study revealed that the optimal link length combination for the sliding-type picking mechanism were 54 mm, 106 mm, 116 mm, 114 mm, and 140 mm for the driving link, connecting link, driven link, end effector, and fixed link, respectively. The pick-up pins moved the seedling from the tray cell to the discharge point in a counterclockwise direction, forming a peak angle of 126.3° at 30 rpm driving link speed and a picking rate of 30 seedlings per minute. The end effector displayed a 2,700 N input driving torque, with peak velocities and accelerations in the ‘X’ and ‘Y’ directions of 0.274 m·s-1, 0.199 m·s-1, 2.94 m·s-2, and 8.249 m·s-2, respectively. Different studies used kinematic simulation and validation experiments to investigate the design and analysis of different seedling transplanting mechanisms. Han et al. (2015) examined a tomato seedling picking mechanism, the maximum accelerations, and velocities in the x- and y-axes were 103,800 and 86,900 mm·s-2 and 1,200 to 2,100 m·s-1, respectively. Islam et al. (2020) investigated a pepper transplanter mechanism and showed the velocities and accelerations ranging from 400 to 1,100 mm·s-1 and 500 to 2,200 mm·s-2, respectively, in the y- and x-axes. Du et al. (2023) designed and conducted experiment on an automatic adjustable transplanting end-effector, a significant effectiveness of the buffer design was proved by the peak acceleration of the end-effector ranging from -22.1 m·s-2 to -13.4 m·s-2. Although there were differences in the kinematic parameter values, the simulation principle used in the previous research was considered. The inconsistency was influenced by the type of transplanting mechanisms, the seedling crop type, and agronomic traits.

Conclusion

In this study, a seedling pick-up mechanism for pepper transplanter was theoretically analyzed to select the optimal link length combination and calculate the kinematic parameters required for ensuring smooth extract pepper seedlings from cell tray and release them on the planting hopper. The optimal length link combination, the position of end-effector and the seedling picking trajectory was determined. The theoretical seedling picking trajectory was calculated using a vector-loop model, which was verified using kinematic simulation model. The optimal link length combination for the sliding-type picking mechanism were 54 mm, 106 mm, 116 mm, 114 mm, and 140 mm for the driving link, connecting link, driven link, end effector, and fixed link, respectively. The pick-up pins moved the seedling from the tray cell to the discharge point in a counterclockwise direction, forming a peak angle of 126.3° at 30 rpm driving link speed and a picking rate of 30 seedlings per minute. The end effector displayed a 2,700 N input driving torque, with peak velocities and accelerations in the ‘X’ and ‘Y’ directions of 0.274 m·s-1, 0.199 m·s-1, 2.94 m·s-2, and 8.249 m·s-2, respectively. The outcomes of this study would provide significant theoretical support for enhancing the pepper transplanting mechanism designs, and the validation would require the field tests in farming environment.

Conflict of Interests

No potential conflict of interest relevant to this article was reported.

Acknowledgements

This work was carried out with the support of “Cooperative Research Program for Agriculture Science and Technology Development, Combined Work Type High Performance Field Crop Precision Planting & Transplanting Technology Development (RS-2021-RD009653)”, Rural Development Administration, Republic of Korea.

References

1

Du X, Yun Z, Jin X, Li P, Gao K. 2023. Design and experiment of automatic adjustable transplanting end-effector based on double-cam. Agriculture 13:987.

10.3390/agriculture13050987
2

Gobie W. 2019. A seminar review on red pepper (Capsicum) production and marketing in Ethiopia. Cogent Food & Agriculture 5:1647593.

10.1080/23311932.2019.1647593
3

Habineza E, Ali M, Reza MN, Woo JK, Chung SO, Hou Y. 2023. Vegetable transplanters and kinematic analysis of major mechanisms: A review. Korean Journal of Agricultural Science 50:113-129.

10.7744/kjoas.20230007
4

Habineza E, Reza MN, Bicamumakuba E, Haque MA, Park SH, Lee DH, Chung SO, Lee YS. 2024. Pepper transplanting mechanisms and kinematic simulation analysis: A review. Precision Agriculture Science and Technology 6:17-32.

10.12972/pastj.20240002
5

Han L, Mao H, Hu J, Tian K. 2015. Development of a doorframe-typed swinging seedling pick-up device for automatic field transplantation. Spanish Journal of Agricultural Research 13:e0210.

10.5424/sjar/2015132-6992
6

Han L, Mo M, Ma H, Kumi F, Mao H. 2023a. Design and test of a lateral-approaching and horizontal-pushing transplanting manipulator for greenhouse seedlings. Applied Engineering in Agriculture 39:325-338.

10.13031/aea.15420
7

Han L, Xiang D, Xu Q, Du X, Ma G, Mao H. 2023b. Development of simplified seedling transplanting device for supporting efficient production of vegetable raw materials. Applied Sciences 13:10022.

10.3390/app131810022
8

Iqbal MZ, Islam MN, Ali M, Kiraga S, Kim YJ, Chung SO. 2022. Theoretical overturning analysis of a 2.6-kW two-row walking-type automatic pepper transplanter. Journal of Biosystems Engineering 47:79-91.

10.1007/s42853-022-00129-x
9

Islam MN, Iqbal MZ, Ali M, Chowdhury M, Kabir MSN, Park T, Kim YJ, Chung SO. 2020. Kinematic analysis of a clamp-type picking device for an automatic pepper transplanter. Agriculture 10:627.

10.3390/agriculture10120627
10

Khater AE, Ali TH, AbdelMohsen KH, Azab AE, Hamed AR. 2023. Design and manufacture of a handy tool for transplanting the medicinal and aromatic seedling. Mukt Shabd Journal 12:385-406.

11

KOSTAT (Statistics Korea). 2022. Production of Chili Pepper, Sesame and Highland Potatoes in 2022. KOSTAT, Daejeon, Korea.

12

Liu J, Zhao S, Li N, Faheem M, Zhou T, Cai W, Zhao M, Zhu X, Li P. 2019. Development and field test of an autonomous strawberry plug seeding transplanter for use in elevated cultivation. Applied Engineering in Agriculture 35:1067-1078.

10.13031/aea.13236
13

Mao H, Han L, Hu J, Kumi F. 2014. Development of a pincette-type pick-up device for automatic transplanting of greenhouse seedlings. Applied Engineering in Agriculture 30:547-556.

10.13031/aea.30.10550
14

Medalcho TH, Ali KA, Augchew ED, Mate JI. 2023. Effects of spices mixture and cooking on phytochemical content in Ethiopian spicy hot red pepper products. Food Science & Nutrition 12:4594-4604.

10.1002/fsn3.388639055194PMC11266928
15

Muragi AR, Sajjan M. 2019. Seedling transplanter. International Journal for Research in Applied Science & Engineering 7:114-120.

10.22214/ijraset.2019.2016
16

Nedspice. 2023. Pepper crop report 2023. Accessed in https://www.nedspice.com/app/uploads/2023/02/Nedspice-Pepper-Crop-Report-2023.pdf on 4 January 2024.

17

Periasamy V, Duraisamy, Kavitha. 2021. Development of a picking and dropping mechanism for protray grown vegetable seedlings. Journal of Applied and Natural Science 13:47-54.

10.31018/jans.v13iSI.2776
18

Periasamy V, Gounder DVM, Ramasamy K. 2022. Factors influencing the performance of mechanical end effector during automatic transplanting of tomato seedlings. Journal of Applied and Natural Science 14:227-231.

10.31018/jans.v14iSI.3613
19

RDA (Rural Development Administration). 2023. 2023 Pepper Mechanization Status in Korea. RDA, Jeonju, Korea.

20

Ryu KH, Kim G, Han JS. 2001. AE-Automation and emerging technologies: Development of a robotic transplanter for bedding plants. Journal of Agricultural Engineering Research 78:141-146.

10.1006/jaer.2000.0656
21

Sivakumar S, Durairaj CD. 2014. Development of a seedling ejection mechanism for pro-tray seedling. Trends in Biosciences 7:621-624.

22

Syamilah N, Nurul AS, Effarizah ME, Norlia M. 2022. Mycotoxins and mycotoxigenic fungi in spices and mixed spices: A review. Food Research 6:30-46.

10.26656/fr.2017.6(4).971
23

Younes AH, Mustafa YF. 2023. Sweet bell pepper: A focus on its nutritional qualities and illness-alleviated properties. Indian Journal of Clinical Biochemistry 39:459-469.

10.1007/s12291-023-01165-w39346723
24

Zhang N, Zhang G, Liu H, Liu W, Wei J, Tang N. 2022. Design of and experiment on open-and-close seedling pick-up manipulator with four fingers. Agriculture 12:1776.

10.3390/agriculture12111776
25

Zhao X, Guo J, Li K, Dai L, Chen J. 2020. Optimal design and experiment of 2-DoF five-bar mechanism for flower seedling transplanting. Computers and Electronics in Agriculture 178:105746.

10.1016/j.compag.2020.105746
페이지 상단으로 이동하기