Basic Studies on Automatization of Chrysanthemum Cutting Sticking Operation (Part 4) : Development of Planting Device

In the previous papers of this series, detecting algorithms of chrysanthemum cutting for visual sensor and two types of leaf removing devices were reported. In this paper, a planting device which sticks cuttings into a plug tray is described as a final procedure of this cutting sticking robot system. The planting device grasped ten cuttings whose lower leaves were removed by the leaf removing device with a plate and could stick the cuttings into a plug tray at a time. From the experimental results, it was observed that its success rate was around 95%. [Keywords] cuttage, chrysanthemum, robot, planting, leaf removing device