Research on Flexible End-Effectors with Humanoid Grasp Function for Small Spherical Fruit Picking

The rapid, stable, and undamaged picking of small-sized spherical fruits are one the key technologies to improve level intelligent robots reduce grading operations. Cherry tomatoes were selected as research object in this work. Picking strategies two-stage “Holding-Rotating” finger-end grasping determined. end-effector was designed separate fruit from stalk based on linear motion constraint part rotating gripper. This work first studied human hand-grasping cherry fingers with sinusoidal characteristics. mathematical model a single finger gripper established. structural parameters determined meet requirements grabbing range 0 61.6 mm. Based simulation model, set 6 speeds, sizes 20 mm, 30 40 respectively. When speed 0.08m/s, results showed that time 0.5381 s, 0.387 0.2761 respectively, maximum force 0.9717 N, 3.5077 4.0003 N now clamping, It met high low loss. criterions two-index stability proposed, including index fixed value slip detection variance mean ratio. Therefore, control strategy algorithm for non-destructive harvesting small proposed. experiment seventy-two success rate 95.82%, average 4.86 damage 2.90%, browning 2.90% 72 h, wrinkling 1.49% which can actual requirements. will provide an idea flexible end-effectors humanoid grasp function provides theoretical reference picking.