基于草莓轮廓曲线的单指软体采摘抓手设计与优化

The structure of the traditional three-finger soft gripper was improved, and a new type of single-finger soft grip was designed based on the strawberry curve for non-destructive grabbing in the process of picking strawberry. Firstly, the structure of the single-finger gripper was optimized based on Abaqus simulation software to realize the complete package of the soft gripper and improve the bending performance. And the manufacturing process was improved to effectively enhance the reuse rate and safety of the single finger gripper. Then, using high speed camera and dynamic capture technology, the bending deformation law of the upper and lower end faces of the single finger gripper was analyzed. Thirdly, both the minimum failure stress on surface of the strawberry and the end force of the soft gripper were test, and the feasibility of nondestructive grasping was verified based on these results. Finally, the single-finger gripper was installed on the manipulator arm to carry out the strawberry grasping test. After simulating the natural growth state of strawberries, the success rate reached 80% and the damage rate was 7.5%. The results proved that the pneumatic single-finger soft gripper could realize the nondestructive grasping of strawberries.