Tendon Actuation Device Based On Underactuation Apple Lossless End Effector

Abstract

With the continuous development of agriculture, people's demand for improving orchard production efficiency and fruit quality is increasing. The traditional manual method of picking apples has problems such as low efficiency and high losses. Advanced technologies are urgently needed to address this challenge. To this end, this article introduces a non-destructive apple-picking technology based on robot end effectors. Through simulation analysis, it was determined that four steps of adsorption, pulling back, clamping, and twisting were used to simulate one-handed picking. The end effector produces a spherical dynamic grasp with normal force distribution and pick-up sequence replicating selected human body patterns. By analyzing and solving the structure of the hand claw, the motion statistics of the three fingers under different drives are simulated to determine the force required for picking. This technology adds an underactuated tendon drive with a flexible flexure joint. This is to make the system work better in the event of positioning errors and to make it more resistant to changes in fruit size, shape, and orientation. Experimental results show that non-destructive apple-picking technology using robotic end effectors has higher efficiency and lower losses than traditional methods. Robots can quickly complete more picking tasks and reduce fruit waste and loss.