Fully pneumatic suction-clamp integrated non-destructive picking end-effector

Minghao Zhu

doi:10.1117/12.2679617

18 July 2023 Fully pneumatic suction-clamp integrated non-destructive picking end-effector

Minghao Zhu

Proceedings Volume 12722, Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023); 127222C (2023) https://doi.org/10.1117/12.2679617
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023), 2023, Hangzhou, China

Abstract

With the development of robotics and the rapid diffusion of products, more and more specialized products are available for the agricultural sector. In order to achieve non-destructive picking of spherical fruits and vegetables, especially tomatoes which are soft and fragile. In this paper a series of research works are carried out on this topic. A multi-link picking mechanism is purposefully proposed which is composed in three dimensions and whose basic actions are performed by active cylinders in a collaborative sequence. By analyzing and solving the hand claw structure, the action statistics of the three fingers under different drives are simulated and the force values required for picking are determined. On the basis of establishing the ideal action to complete the picking, the sequence of control of the three jaw cylinders to complete the basic action is determined combined with simulation experiments to determine the ideal picking criteria in the implementation process. The design is verified by simulating the picking process to see how well it achieves the design objectives.

Citation Download Citation

Minghao Zhu "Fully pneumatic suction-clamp integrated non-destructive picking end-effector", Proc. SPIE 12722, Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023), 127222C (18 July 2023); https://doi.org/10.1117/12.2679617

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