Walnut shell breaking is the first step of deep walnut processing. This study aims to investigate the mechanical properties and fracture state of the Qingxiang walnut shell under unidirectional load and guide the complete separation of the walnut shell and kernel. The spherical thin shell model of the walnut (the fitting error is less than 5%) was established and verified. The process from the initiation to the expansion of walnut cracks was analyzed. The crack expansion rate was estimated in terms of the crack fracture regularity on the shell’s surface. Based on the momentless theory and finite element simulation analysis, we found that the stress on the shell surface in the concentrated force action region was gradient distributed from inside to outside and that the internal forces were equal in all directions in the peripheral force action region. The unidirectional impact shell-breaking experiments confirmed the reliability of our spherical thin shell model and verified our hypothesis of walnut shell fracture along the longitudinal grain. Our results can provide a theoretical basis for the development and structural optimization of shell-breaking machinery.

Cutting of sheep carcass using 3D point cloud with dual-robot system

In Southeast Asia, many varieties of citrus are grown in hilly areas. Compared with plain orchards, it is difficult for large spraying equipment to move in hilly orchards. Small spraying equipment can enter hilly orchards, but their spraying power cannot make droplets penetrate into the canopy, resulting in low deposition rates within the canopy. As a kind of unstructured narrow space, the branches within the canopy are interlaced, thus a flexible manipulator that can move within the canopy is required. In this paper, a novel remote-controlled, cable-driven target spray robot (CDTSR) was designed to achieve a precise spray within the canopy. It consisted of a small tracked vehicle, a cable-driven flexible manipulator (CDFM), and a spray system. The CDFM had six degrees of freedom driven by a cable tendon. The forward and inverse kinematics model of the CDFM were established and then the semispherical workspace was calculated. Furthermore, while considering precise control requirements, the dynamics equations were derived. The experimental results demonstrated that the CFDM could move dexterously within the canopy with interlacing branches to reach pests and diseases areas in the canopy. The entire operation took 3.5 s. This study solved the problem of a low spray deposition rate within a canopy and has potential applications in agricultural plant protection.