In order to address the issues of poor flexibility and complex control systems in existing picking manipulators, the present work designs a multi-degree-of-freedom cable-driven underactuated manipulator. Firstly, an end-effector drive module based on the cam mechanism is designed, which can control gripping force without the need for force sensor feedback, and enables the opening, closing, and rotary movements of the end-effector to be controlled by the same motor. Secondly, the influence of the structural parameters of the fingers on the contact force at the phalange is analyzed, and then the end-effector is optimized using a genetic algorithm. Next, the cable pulling force control model is established. Subsequently, a prototype manipulator is fabricated for testing, the results show that the adjustment range of cable pulling force is 11.1–27.4 N, and the output torque of manipulator is 0.64 N·m. Finally, the results of picking test in the orchard demonstrate that the manipulator is capable of accomplishing non-destructive picking operations.
GondchawarNKawitkarR.IoT based smart agriculture. Int J Adv Res Comput Commun Eng2016; 5(5): 838–842.
2.
GoelRKYadavCSVishnoiS, et al. Smart agriculture – urgent need of the day in developing countries. Sustain Comput2021; 30: 100512.
3.
BuLChenCHuG, et al. Assessment of apple damage caused by a flexible end-effector. Agric Eng2020; 62: 309–317.
4.
ZhangJKangNQuQ, et al. Automatic fruit picking technology: a comprehensive review of research advances. Artif Intell Rev2024; 57(3): 1–39.
5.
QiaoSGuoHLiuR, et al. Self-adaptive grasp analysis of a novel under-actuated cable-truss robotic finger. Proc IMechE, Part C: J Mechanical Engineering Science2019; 233(6): 2121–2134.
6.
DavidsonJRMoC.Mechanical design and initial performance testing of an apple-picking end-effector. Int Mech Eng Congress Expo2015; 4A: 50482. DOI: 10.1115/imece2015-50482.
7.
GoulartRJarvisDWalshKB.Evaluation of end effectors for robotic harvesting of mango fruit. Sustainability2023; 15(8): 6769.
8.
TangSYuYSunS, et al. Design and experimental evaluation of a new modular underactuated multi-fingered robot hand. Proc IMechE, Part C: J Mechanical Engineering Science2020; 234(18): 3709–3724.
9.
GuoJZhaoDJiW, et al. Design and control of the open apple-picking-robot manipulator. In: 2010 3rd international conference on computer science and information technology, 2010, pp.5–8. DOI:10.1109/ICCSIT.2010.5564770.
10.
LiMLiuP.A bionic adaptive end-effector with rope-driven fingers for pear fruit harvesting. Comput Electron Agric2023; 211: 107952.
11.
HeZLiZDingX, et al. Design and experiment of end effect for kiwifruit harvesting based on optimal picking parameters. INMATEH -Agric Eng2023; 69: 325–334.
12.
HohimerCJWangHBhusalS, et al. Design and field evaluation of a robotic apple harvesting system with a 3D-printed soft-robotic end-effector. Trans ASABE2019; 62(2): 405–414.
13.
GuoCZhangSYangY, et al. A novel soft end effector with active palm and fingertips for robotic picking. Proc IMechE, Part C: J Mechanical Engineering Science2023; 237(13): 3035–3046.
14.
GallowayKCBeckerKPPhillipsB, et al. Soft robotic grippers for biological sampling on deep reefs. Soft Robot2016; 3(1): 23–33.
15.
WangXKangHZhouH, et al. Development and evaluation of a robust soft robotic gripper for apple harvesting. Comput Electron Agric2023; 204: 107552.
16.
SilwalADavidsonJRKarkeeM, et al. Design, integration, and field evaluation of a robotic apple harvester. J Field Robot2017; 34(6): 1140–1159.
17.
ZhangZZhouJYiB, et al. A flexible swallowing gripper for harvesting apples and its grasping force sensing model. Comput Electron Agric2023; 204: 107489.
18.
LiTXieFZhaoZ, et al. A multi-arm robot system for efficient apple harvesting: perception, task plan and control. Comput Electron Agric2023; 211: 107979.
19.
XuHYuGNiuC, et al. Design and experiment of an underactuated broccoli-picking manipulator. Agriculture2023; 13(4): 848–866.
20.
LiuFHeGPLuZ.Research and design of a novel tendon driven underactuated multi-fingered hand. J Mech Eng2014; 50(15): 53–59.
21.
JinyueLRuiZXiaohuiJ, et al. Underactuated dexterous hand with independent control of finger joint. J Mech Eng2020; 56(3): 47–55.
22.
BencakPHercogDLerherT.Simulation model for robotic pick-point evaluation for 2-f robotic gripper. Appl Sci2023; 13(4): 2599.
23.
GeiesNAbdelrahimMElTaibM, et al. Grasping stability analysis of an underactuated three finger adaptive gripper on matlab sim-mechanics. In: 2020 16th international computer engineering conference, 2020, pp.141–146. DOI:10.1109/ICENCO49778.2020.9357396.
24.
FanPYanBWangM, et al. Three-finger grasp planning and experimental analysis of picking patterns for robotic apple harvesting. Comput Electron Agric2021; 188: 106353.
25.
LiuXCaoZYangL, et al. Research on damage properties of apples based on static compression combined with the finite element method. Foods2022; 11(13): 1851.
26.
LiCLiZWangX, et al. Using the equivalent static pressure method to assess free fall damage of the korla fragrant pear. Horticulturae2023; 9(9): 993.
27.
VerganoPTestinRNewallW.Peach bruising: susceptibility to impact, vibration, and compression abuse. Trans ASAE1991; 34(5): 2110–2116.
28.
DengXLuoZPangJ, et al. Design and experiment of bionic nondestructive handheld suction apple picker. Hua Nan Nong Ye Da Xue Xue Bao2019; 24(4): 100–108.
