배근택 조성훈 김승원 2026-02-23T07:00:13Z 2026-02-23T07:00:13Z 2026-02-11 2025-12-12 https://pubs.kist.re.kr/handle/201004/154350 https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE12559431 Modern agriculture is increasingly adopting smart farming systems to ensure stable crop production under rapidly changing climate conditions. However, even in smart farms, harvesting crops like tomatoes remains a labor-intensive task, leading to challenges in labor availability and productivity due to rising labor costs and the avoidance of physically demanding work. Although various automated harvesting systems have been developed, a precise end-effector capable of removing the tomato’s distal pedicel, which is essential for maintaining marketable quality, has not yet been realized. In this study, we propose a novel distal pedicel-cutting mechanism based on a 3D iris dome structure. The required cutting force was determined by cutting experiments for different stem regions with flat and v-shaped blade. A prototype was fabricated by 3D printer, and its cutting process was validated by finite elements method (FEM) simulation. Korean 대한기계학회 토마토 수확 자동화 로봇을 위한 꼭지 절단 메커니즘 설계 Design of a Distal Pedicel Cutting Mechanism for Automated Tomato Harvesting Robots Conference 2 대한기계학회 창립 80주년 기념 학술대회 대한기계학회 창립 80주년 기념 학술대회 KO 하이원 그랜드호텔 컨벤션타워(강원랜드) 2025-12-10 대한기계학회 창립 80주년 기념 학술대회