A Soft Gripper Design for Apple Harvesting with Force Feedback and Fruit Slip Detection

This research presents a soft gripper for apple harvesting to provide constant-pressure clamping and avoid fruit damage during slippage, to reduce the potential danger of damage to the apple pericarp during robotic harvesting. First, a three-finger gripper based on the Fin Ray structure is developed...

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Hlavní autoři:	Kaiwen Chen, Tao Li, Tongjie Yan, Feng Xie, Qingchun Feng, Qingzhen Zhu, Chunjiang Zhao
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2022-10-01
Edice:	Agriculture
Témata:	apple harvesting soft gripper Fin Ray effect finite element analysis constant-pressure feedback slip detection
On-line přístup:	https://www.mdpi.com/2077-0472/12/11/1802
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