SCARA ROBOT WORK CELL FOR SEEDLING TRANSPLANTING
A study of flexible automation for greenhouse applications includes a prototype work cell utilizing a selective compliance assembly robot arm (SCARA) robot. A systems level study of the interaction of the work cell layout, the robot motions and the flows of materials was conducted. The transplanting of seedlings from high density plug trays into low density growing flats was the operation studied. The materials flow of the plug trays relative to the growing flats was compared for various orientations. An end-effector is being designed to function within a multi-stop local work trajectory surrounding each seedling.
Ting, K.C., Giacomelli, G.A. and Roberts, W.J. (1988). SCARA ROBOT WORK CELL FOR SEEDLING TRANSPLANTING. Acta Hortic. 230, 221-228