{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T12:46:36Z","timestamp":1780058796420,"version":"3.54.0"},"reference-count":22,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2020,5,15]],"date-time":"2020-05-15T00:00:00Z","timestamp":1589500800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2020,5,15]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to investigate if a Cartesian robot system for kiwifruit harvesting works more effectively and efficiently than an articulated robot system. The robot is a key component in agricultural automation. For instance, multiple robot arm system has been developed for kiwifruit harvesting recently because of the significant labor shortage issue. The industrial robots for factory automation usually have articulated configuration which is suitable for the tasks in the manufacturing and production environment. However, this articulated configuration may not fit for agricultural application due to the large outdoor environment.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The kiwifruit harvesting tasks are completed step by step so that the robot workspace covers the canopy completely. A two-arm, Cartesian kiwifruit harvesting robot system and several field experiments are developed for the investigation. The harvest cycle time of the Cartesian robot system is compared to that of an articulated robot system. The difference is analyzed based on the workspace geometries of these two robot configurations.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>It is found that the kiwifruit harvesting productivity is increased by using a multiple robot system with Cartesian configuration owing to its regular workspace geometry.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>An articulated robot is a common configuration for manufacturing because of its simple structure and the relatively static factory environment. Most of the agricultural robotics research studies use single articulated robot for their implementation. This paper pinpoints how the workspace of a multiple robot system affects the harvest cycle time for kiwifruit harvesting in a pergola style kiwifruit orchard.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-12-2019-0255","type":"journal-article","created":{"date-parts":[[2020,5,15]],"date-time":"2020-05-15T11:38:42Z","timestamp":1589542722000},"page":"503-510","source":"Crossref","is-referenced-by-count":13,"title":["Workspace analysis of Cartesian robot system for kiwifruit harvesting"],"prefix":"10.1108","volume":"47","author":[{"given":"ChiKit","family":"Au","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joshua","family":"Barnett","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shen Hin","family":"Lim","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mike","family":"Duke","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","reference":[{"issue":"2","key":"key2020070908325176800_ref001","doi-asserted-by":"crossref","first-page":"194","DOI":"10.3390\/robotics4020194","article-title":"Deliberation on design strategies of automatic harvesting systems: a survey","volume":"4","year":"2015","journal-title":"Robotics"},{"issue":"6","key":"key2020070908325176800_ref002","doi-asserted-by":"crossref","first-page":"888","DOI":"10.1002\/rob.21525","article-title":"Harvesting robots for high-value crops: state-of-the-art review and challenges ahead","volume":"31","year":"2014","journal-title":"Journal of Field Robotics"},{"issue":"6","key":"key2020070908325176800_ref003","first-page":"123","article-title":"Performance evaluation of a harvesting robot for sweet pepper","volume":"34","year":"2017","journal-title":"Journal of Field Robotics"},{"key":"key2020070908325176800_ref004","unstructured":"Barnett, J. 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