Analysis of Mechanical Characteristics of Stereolithography Soft-Picking Manipulator and Its Application in Grasping Fruits and Vegetables
Abstract
:1. Introduction
2. Materials and Methods
2.1. SLA Printing System Setup
2.2. Structure Design of Soft-Picking Manipulator
2.3. Preparation of Soft Actuators
2.4. Finite Element Analysis of the Soft Actuator
2.5. Soft Actuator Output Force Test
2.6. Test Platform Design
2.7. The Soft Manipulator Grasping Mode
3. Results
3.1. Grasping Experiments of Different Grasping Modes
3.2. Fruit and Vegetable Grasping Experiments
4. Discussion
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Fruit and Vegetable Categories | Weight/g | Height/mm | Mean Diameter/mm | Pressure/kPa | Success Rate/% |
---|---|---|---|---|---|
Cherry tomato | 41.23 | 50.65 | 38.97 | 22 | 85 |
Orange | 70.86 | 44.74 | 58.59 | 20 | 100 |
Tomato | 214.60 | 66.71 | 75.54 | 26 | 100 |
Pear | 283.68 | 73.66 | 79.51 | 36 | 100 |
Apple | 253.49 | 75.53 | 84.33 | 32 | 100 |
Banana | 143.79 | 161.25 | 37.07 | 30 | 80 |
Cucumber | 188.47 | 151.53 | 44.39 | 38 | 75 |
Manufacturing Method | Output Force | Materials | Manufacturing Process | Manufacturing Costs | Characteristics | Ref. Number |
---|---|---|---|---|---|---|
Fused Filament Fabrication (FFF) | 4.4 N/100 kPa | Thermoplastic elastomer (TPE) | Simple | Low cost | Rough surfaces; High temperature process; High pressure; | [19] |
FDM | 17.79 N/300 kPa | TPE | Simple | Low cost | Easy to deform during molding; High pressure; | [23] |
DLP | – | Hexane-1,6-diol diacrylate/HEA mixture | Medium complexity | Expensive equipment | Excellent surface quality; Increased performance with multiple materials; | [34] |
3D printing | 2.45 N/160 kPa | ShOreA30 | Simple | – | High pressure; Large bending angle; | [35] |
SLS | 2.9 N/400 kPa | TPU92A-1 | Simple | Expensive equipment and materials | High pressure; Long manufacturing time; | [36] |
Molding | – | Dragonskin 10 A/20 A | Complexity | Low cost | More material available; Long manufacturing time; Complex manufacturing process; | [6] |
Molding | – | Ecoflex 00-10 | Complexity | Low cost | Long manufacturing time; Complex manufacturing process; | [37] |
SLA | 1.9 N/60 kPa | Silicone rubber resin | Simple | Low cost | Excellent surface quality and precision; Easy to age in the sun. | This paper |
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Zhuang, Y.; Guo, Y.; Li, J.; Shen, L.; Wang, Z.; Sun, M.; Wang, J. Analysis of Mechanical Characteristics of Stereolithography Soft-Picking Manipulator and Its Application in Grasping Fruits and Vegetables. Agronomy 2023, 13, 2481. https://doi.org/10.3390/agronomy13102481
Zhuang Y, Guo Y, Li J, Shen L, Wang Z, Sun M, Wang J. Analysis of Mechanical Characteristics of Stereolithography Soft-Picking Manipulator and Its Application in Grasping Fruits and Vegetables. Agronomy. 2023; 13(10):2481. https://doi.org/10.3390/agronomy13102481
Chicago/Turabian StyleZhuang, Yu, Yanling Guo, Jian Li, Liuyang Shen, Zhentao Wang, Maoxiang Sun, and Jinfeng Wang. 2023. "Analysis of Mechanical Characteristics of Stereolithography Soft-Picking Manipulator and Its Application in Grasping Fruits and Vegetables" Agronomy 13, no. 10: 2481. https://doi.org/10.3390/agronomy13102481