{"id":"https://openalex.org/W4413022854","doi":"https://doi.org/10.1002/rob.70038","title":"Optimization Design and Testing of the Under\u2010Actuated Lotus Seedpod Harvesting Grasping Mechanism","display_name":"Optimization Design and Testing of the Under\u2010Actuated Lotus Seedpod Harvesting Grasping Mechanism","publication_year":2025,"publication_date":"2025-08-06","ids":{"openalex":"https://openalex.org/W4413022854","doi":"https://doi.org/10.1002/rob.70038"},"language":"en","primary_location":{"id":"doi:10.1002/rob.70038","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.70038","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020651408","display_name":"Tao Tang","orcid":"https://orcid.org/0000-0001-7356-7196"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]},{"id":"https://openalex.org/I4210124033","display_name":"Blood Center of Zhejiang Province","ror":"https://ror.org/02p620w18","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I4210124033"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Tang","raw_affiliation_strings":["Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101669688","display_name":"Miao Hu","orcid":"https://orcid.org/0000-0003-3650-1782"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]},{"id":"https://openalex.org/I4210124033","display_name":"Blood Center of Zhejiang Province","ror":"https://ror.org/02p620w18","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I4210124033"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Hu","raw_affiliation_strings":["Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100535377","display_name":"Gaohong Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]},{"id":"https://openalex.org/I4210124033","display_name":"Blood Center of Zhejiang Province","ror":"https://ror.org/02p620w18","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I4210124033"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaohong Yu","raw_affiliation_strings":["Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115602581","display_name":"Xu Wang","orcid":"https://orcid.org/0000-0002-7871-5749"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]},{"id":"https://openalex.org/I4210124033","display_name":"Blood Center of Zhejiang Province","ror":"https://ror.org/02p620w18","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I4210124033"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Wang","raw_affiliation_strings":["Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210124033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051434378","display_name":"Bingliang Ye","orcid":"https://orcid.org/0009-0007-2679-1460"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]},{"id":"https://openalex.org/I4210124033","display_name":"Blood Center of Zhejiang Province","ror":"https://ror.org/02p620w18","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I4210124033"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingliang Ye","raw_affiliation_strings":["Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering Zhejiang Sci\u2010Tech University Hangzhou China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210124033"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051434378"],"corresponding_institution_ids":["https://openalex.org/I1328775524","https://openalex.org/I4210124033"],"apc_list":{"value":4430,"currency":"USD","value_usd":4430},"apc_paid":null,"fwci":1.7726,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86925196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"43","issue":"1","first_page":"279","last_page":"292"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12452","display_name":"Electrowetting and Microfluidic Technologies","score":0.9710000157356262,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.8145967721939087},{"id":"https://openalex.org/keywords/lotus","display_name":"Lotus","score":0.740253210067749},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39285582304000854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.391085684299469},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.18777763843536377},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.10480853915214539},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08193376660346985}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.8145967721939087},{"id":"https://openalex.org/C2777635637","wikidata":"https://www.wikidata.org/wiki/Q3645698","display_name":"Lotus","level":2,"score":0.740253210067749},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39285582304000854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.391085684299469},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.18777763843536377},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.10480853915214539},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08193376660346985},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.70038","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.70038","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2130607951","https://openalex.org/W2767322180","https://openalex.org/W2808090143","https://openalex.org/W2885121946","https://openalex.org/W2914572326","https://openalex.org/W2947492280","https://openalex.org/W2958626453","https://openalex.org/W2964535757","https://openalex.org/W3005110181","https://openalex.org/W3030285646","https://openalex.org/W3153396097","https://openalex.org/W3188247221","https://openalex.org/W3217276880","https://openalex.org/W4206693075","https://openalex.org/W4226156410","https://openalex.org/W4287848462","https://openalex.org/W4291164935","https://openalex.org/W4292428501","https://openalex.org/W4313430588","https://openalex.org/W4328090700","https://openalex.org/W4364382102","https://openalex.org/W4388659497","https://openalex.org/W4391333932","https://openalex.org/W4391553609","https://openalex.org/W4404597176"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2366835325","https://openalex.org/W2074679237","https://openalex.org/W4402573539","https://openalex.org/W4238472094","https://openalex.org/W162164374","https://openalex.org/W2922035700","https://openalex.org/W2461260704"],"abstract_inverted_index":{"ABSTRACT":[0],"To":[1],"address":[2],"the":[3,20,31,35,43,47,63,69,97,101,109,114,120,149,180,185,203],"high":[4],"labor":[5],"intensity":[6],"and":[7,54,59,68,104,111,128,170,199,205,211,214],"low":[8],"efficiency":[9],"associated":[10],"with":[11,163],"traditional":[12],"manual":[13],"lotus":[14,48,121,161,190,209],"seedpod":[15,122,191],"harvesting,":[16],"this":[17],"study":[18,194],"proposes":[19],"design":[21,39],"of":[22,34,46,56,62,71,100,113,119,155,168,175,184,207],"an":[23,153,164],"under\u2010actuated,":[24],"three\u2010finger":[25],"linkage":[26],"grasping":[27,32,64,102,124,150,187],"mechanism":[28,65,115,125,151,188],"that":[29,148],"mimics":[30],"motion":[33,106],"human":[36],"hand.":[37],"The":[38,88,144],"is":[40],"based":[41],"on":[42],"physical":[44],"properties":[45],"seedpod,":[49,162],"ensuring":[50],"a":[51,129,141,160,171,196],"compact":[52],"structure":[53],"ease":[55],"control.":[57],"Kinematic":[58],"static":[60],"models":[61],"were":[66,82],"developed,":[67,127],"range":[70],"structural":[72],"parameters":[73],"was":[74,93,126,133],"determined":[75],"using":[76],"custom\u2010developed":[77],"software.":[78],"Additionally,":[79],"genetic":[80],"algorithms":[81],"employed":[83],"to":[84,95,135,158],"optimize":[85],"these":[86],"parameters.":[87],"Denavit\u2010Hartenberg":[89],"(D\u2010H)":[90],"parameter":[91],"method":[92],"used":[94],"analyze":[96],"working":[98],"space":[99],"mechanism,":[103],"virtual":[105],"simulations":[107],"confirmed":[108],"rationality":[110],"accuracy":[112],"design.":[116],"A":[117],"prototype":[118],"harvesting":[123,130,138,208],"test":[131],"platform":[132],"constructed":[134],"conduct":[136],"simulated":[137],"experiments":[139],"in":[140,189],"laboratory":[142],"environment.":[143],"experimental":[145],"results":[146,178],"indicate":[147],"requires":[152],"average":[154],"5.34":[156],"s":[157],"harvest":[159],"enveloping":[165],"success":[166,173],"rate":[167,174],"95%":[169],"cutting":[172],"80%.":[176],"These":[177],"demonstrate":[179],"promising":[181],"application":[182],"potential":[183],"proposed":[186],"harvesting.":[192],"This":[193],"provides":[195],"theoretical":[197],"foundation":[198],"practical":[200],"roadmap":[201],"for":[202],"mechanization":[204],"automation":[206],"seedpods":[210],"similar":[212],"fruits":[213],"vegetables.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}