Research on the Bionic Flexible End-Effector Based on Tomato Harvesting

Aiming at the problems that tomatoes are fragile and traditional end-effector design is not suitable for tomato picking, a combination of bionic principle FRE structure finger was proposed. Based on physical properties tomatoes, flexible underactuated picking sorting designed. The optimal structural parameters fingers were determined by finite element analysis, grasping experiment carried out. results show end can grasp transport with diameters ranging from 65 to 95 mm without damage, which withstand 7 N tensile force, load more than 2 times its own weight, coverage rate greater 23.6%, effective grab 100% has advantages strong stability, universality, protection. research provides novel solution application robot end-effector.