A Soft Gripper Design for Apple Harvesting with Force Feedback and Fruit Slip Detection

• Published in: Agriculture (Basel) Vol. 12; no. 11; p. 1802
• Main Authors: Chen, Kaiwen, Li, Tao, Yan, Tongjie, Xie, Feng, Feng, Qingchun, Zhu, Qingzhen, Zhao, Chunjiang
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.11.2022
• Subjects: Analysis; Apple; apple harvesting; Apples; constant-pressure feedback; Control algorithms; Control methods; Damage; Deformation; Feedback; Fin Ray effect; Fingers; finite element analysis; Fruits; Harvesting; Orchards; Pericarp; Picking; Researchers; Robotics; Sensors; Servocontrol; Slip; slip detection; Slippage; soft gripper

This research presents a soft gripper for apple harvesting to provide constant-pressure clamping and avoid fruit damage during slippage, to reduce the potential danger of damage to the apple pericarp during robotic harvesting. First, a three-finger gripper based on the Fin Ray structure is developed...