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For this reason, a sapling grafting robot is developed to implement automatic grafting for saplings. The developed grafting robot includes clipping mechanism, moving mechanism, cutting mechanism, binding mechanism, and Arduino MCU based control system, which is capable of clipping, moving, positioning, cutting, grafting, and binding saplings. Experiments show that the stock cutting efficiency is 98.4%, the scion cutting efficiency is 98.9%, the grafting efficiency is 87.3%, and the binding efficiency is 68.9%.<\/jats:p>","DOI":"10.1155\/2014\/604746","type":"journal-article","created":{"date-parts":[[2014,11,23]],"date-time":"2014-11-23T16:00:47Z","timestamp":1416758447000},"page":"1-9","source":"Crossref","is-referenced-by-count":3,"title":["Design of a Sapling Branch Grafting Robot"],"prefix":"10.1155","volume":"2014","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1211-8359","authenticated-orcid":true,"given":"Qun","family":"Sun","sequence":"first","affiliation":[{"name":"School of Mechanical & Automotive Engineering, Liaocheng University, Liaocheng 252059, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1867-3572","authenticated-orcid":true,"given":"Dongjie","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical & Automotive Engineering, Liaocheng University, Liaocheng 252059, China"},{"name":"College of Engineering, China Agricultural University, Beijing 100083, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0541-2210","authenticated-orcid":true,"given":"Chong","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical & Automotive Engineering, Liaocheng University, Liaocheng 252059, China"}]},{"given":"Ying","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical & Automotive Engineering, Liaocheng University, Liaocheng 252059, China"}]}],"member":"311","reference":[{"issue":"6","key":"1","first-page":"103","volume":"61","year":"1999","journal-title":"Journal of the Japanese Society of Agricultural Machinery"},{"issue":"1","key":"2","first-page":"201","volume":"55","year":"2002","journal-title":"Tokyo Agricultural Research"},{"issue":"6","key":"3","first-page":"117","volume":"68","year":"2006","journal-title":"Journal of the Japanese Society of Agricultural Machinery"},{"doi-asserted-by":"publisher","key":"5","DOI":"10.13031\/2013.32055"},{"doi-asserted-by":"publisher","key":"6","DOI":"10.1016\/j.scienta.2010.08.003"},{"doi-asserted-by":"publisher","key":"7","DOI":"10.1007\/s13580-012-0085-4"},{"doi-asserted-by":"publisher","key":"8","DOI":"10.3965\/j.issn.1934-6344.2008.01.012-021"},{"issue":"6","key":"9","doi-asserted-by":"crossref","first-page":"1664","DOI":"10.21273\/HORTSCI.43.6.1664","volume":"43","year":"2008","journal-title":"HortScience"},{"issue":"3","key":"10","first-page":"29","volume":"21","year":"2005","journal-title":"Transactions e of the Chinese Society of Agricultural Engineering"},{"issue":"7","key":"11","first-page":"146","volume":"30","year":"2008","journal-title":"Agricultural Mechanization Research"},{"issue":"6","key":"12","first-page":"129","volume":"24","year":"2008","journal-title":"Transactions of the Chinese Society of Agricultural Engineering"},{"issue":"9","key":"13","first-page":"79","volume":"24","year":"2008","journal-title":"Transactions of the Chinese Society of Agricultural Engineering"},{"key":"14","first-page":"7","volume":"11","year":"2011","journal-title":"Agricultural Equipment & Vehicle Engineering"},{"issue":"4","key":"15","first-page":"36","volume":"39","year":"2011","journal-title":"Forest Machine and Equipment"},{"issue":"1","key":"16","first-page":"69","volume":"34","year":"2013","journal-title":"Journal of Henan Technology University"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/604746.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/604746.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/604746.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,17]],"date-time":"2019-08-17T15:06:57Z","timestamp":1566054417000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/jr\/2014\/604746\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014]]},"references-count":15,"alternative-id":["604746","604746"],"URL":"https:\/\/doi.org\/10.1155\/2014\/604746","relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"type":"print","value":"1687-9600"},{"type":"electronic","value":"1687-9619"}],"subject":[],"published":{"date-parts":[[2014]]}}}