Factors Affecting Performance of Sliding-Needles Gripper During Robotic Transplanting of Seedlings

Transplanting tests with commercially grown seedling plugs were conducted using a Sliding-Needles with Sensor (SNS) gripper operated by a SCARA type robot. A total of 11 plug trays, with 600 cells each, were tested. Many mechanical and horticultural factors were found to affect the percentage of successful transplanting, which were analyzed to understand their influence on the effectiveness of the gripper. The mechanical factors were 1) the angles of gripper needles; 2) plug extraction acceleration; and 3) the sensor sensitivity. The horticultural factors included 1) empty cells on the plug trays; 2) plant species; 3) root connections; 4) adhesion between roots and cell walls; 5) root zone moisture; and 6) the number of seedlings in one cell.