This study focuses on the development of a modular robotic arm system, with particular emphasis on the design of the robotic arm and grippers, as well as AI-based control. The research aims to automate crop harvesting tasks by developing a robotic arm and gripper system designed with a modular structure to adapt to various operational environments and targets. The robotic arm is designed to be compatible with different platforms, and the end-effectors (grippers) are replaceable depending on the task requirements. To this end, three types of grippers were developed: a mechanical (claw-type) gripper, a spiral continuum gripper, and an electromagnetic gripper. The motion characteristics and structural features of each gripper were analyzed using ADAMS software to evaluate their feasibility in performing actual harvesting tasks and their structural responses. The proposed system is applicable in a modular form to various platforms, including drones. It is expected to serve as foundational research for the development of robotic systems capable of performing diverse functions in agricultural automation beyond harvesting.

• 김삼연(Professor, Department of Mechanical Engineering, Jeonju University, Republic of Korea) | Samyeon Kim Corresponding author
• 정은재(Department of Mechanical Engineering, Jeonju University, Republic of Korea) | Eunjae Jeong
• 김한결(Department of Mechanical Engineering, Jeonju University, Republic of Korea) | Hangyeol Kim
• 김명환(Department of Mechanical Engineering, Jeonju University, Republic of Korea) | Myeonghwan Kim
• 최한규(Department of Mechanical Engineering, Jeonju University, Republic of Korea) | Hangyu Choi