Design and Analysis of a Robotic Gripper Mechanism for Fruit Picking
Abstract
:1. Introduction
2. Design Scheme and Working Principle
3. Calculation and Simulation
3.1. Motion Analysis
3.2. Grasping Force and Structure Size Calculation
3.3. Finite Element Analysis
3.3.1. Structural Analysis of Robotic Gripper
3.3.2. Motion Simulation
4. Experimental Results
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Viable | Min (mm) | Max (mm) |
---|---|---|
l1 | 30 | 60 |
l2 | 15 | 20 |
r | 30 | 30 |
Index | ABS | Rubber |
---|---|---|
Yield strength (MPa) | 50 | 9.23737 |
Tensile strength (MPa) | 30 | 13.7817 |
Modulus of elasticity (N/m2) | 2 × 109 | 6.1 × 106 |
Poisson’s ratio | 0.394 | 0.49 |
Mass density (kg/m3) | 1020 | 1500 |
Shear modulus (N/m2) | 3.189 × 108 | 2.9 × 106 |
Object | Weight (g) | Max Diameter (mm) | Min Diameter (mm) | Grip Force (g) | Max Slip Force (g) |
---|---|---|---|---|---|
Loquat | 8 | 16.8 | 15.4 | - | - |
Cherry | 15 | 23.5 | 22.4 | - | - |
Citrus | 46 | 49.4 | 44.5 | 23.4 | - |
Tomato | 116 | 68.5 | 64.6 | 58.5 | 46.8 |
Yellow peach | 148 | 67.7 | 53.4 | 66.3 | 56.6 |
Apple | 220 | 85.5 | 79.5 | 89.3 | 74.1 |
Object | Weight (g) | Max Diameter (mm) | Length (mm) | Grip Force (g) | Max Slip Force (g) |
---|---|---|---|---|---|
Cherry2 | 13 | 23.2 | 51.5 | 5.07 | - |
Loquat | 108 | 34.5 | 151.2 | 66.3 | 56.6 |
Zucchini | 290 | 56.4 | 194.1 | 113.1 | 93.6 |
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Xu, Y.; Lv, M.; Xu, Q.; Xu, R. Design and Analysis of a Robotic Gripper Mechanism for Fruit Picking. Actuators 2024, 13, 338. https://doi.org/10.3390/act13090338
Xu Y, Lv M, Xu Q, Xu R. Design and Analysis of a Robotic Gripper Mechanism for Fruit Picking. Actuators. 2024; 13(9):338. https://doi.org/10.3390/act13090338
Chicago/Turabian StyleXu, Yongpeng, Mingming Lv, Qian Xu, and Ruting Xu. 2024. "Design and Analysis of a Robotic Gripper Mechanism for Fruit Picking" Actuators 13, no. 9: 338. https://doi.org/10.3390/act13090338