Design of Adaptive Grippers for Fruit-Picking Robots Considering Contact Behavior
Abstract
:1. Introduction
- (1)
- Establishing a flexible gripper topology design method that considers contact behavior, and analyzing the impact of topology design parameters on the design process and final results.
- (2)
- An adaptive finger structure with low contact stress is presented. This structure has superior performance (adaptability and contact performance) and versatility in applications. Based on the above-mentioned fingers, flexible grippers with different driving methods were designed. This gripper can be used in fruit grasping tasks to avoid fruit damage, such as fruit picking, sorting and packaging, etc.
2. Flexible Finger Topology Optimization with Contact Constraints
2.1. Topology Optimization Formulations
2.2. Design Results of Flexible Fingers
2.3. Design Parameters’ Influence on Topology
3. Numerical and Experimental Studies of the Flexible Grippers
3.1. Verification of Contact-Constrained Flexible Fingers
3.2. Shape and Size Adaptability
3.3. Performance Analysis of Flexible Grippers
3.4. Experimental Results
4. Conclusions
Supplementary Materials
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Fruits | Stress/Mpa |
---|---|
Apple | 0.13 |
Strawberry | 0.093 |
Pomelo | 0.15 |
Citron | 0.18 |
Lemon | 1.14 |
Grapefruit | 0.26 |
Orange | 0.51 |
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Xie, B.; Jin, M.; Duan, J.; Li, Z.; Wang, W.; Qu, M.; Yang, Z. Design of Adaptive Grippers for Fruit-Picking Robots Considering Contact Behavior. Agriculture 2024, 14, 1082. https://doi.org/10.3390/agriculture14071082
Xie B, Jin M, Duan J, Li Z, Wang W, Qu M, Yang Z. Design of Adaptive Grippers for Fruit-Picking Robots Considering Contact Behavior. Agriculture. 2024; 14(7):1082. https://doi.org/10.3390/agriculture14071082
Chicago/Turabian StyleXie, Bowei, Mohui Jin, Jieli Duan, Zewei Li, Weisheng Wang, Mingyu Qu, and Zhou Yang. 2024. "Design of Adaptive Grippers for Fruit-Picking Robots Considering Contact Behavior" Agriculture 14, no. 7: 1082. https://doi.org/10.3390/agriculture14071082