Tendon-Driven Soft Robotic Gripper for Blackberry Harvesting
Tendon-Driven Soft Robotic Gripper for Blackberry Harvesting
复制标题
用于黑莓采摘的肌腱驱动软机器人夹具
DOI：
10.1109/lra.2022.3143891
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发表时间：
2022
影响因子：
5.2
通讯作者：
Yue Chen
中科院分区：
文献类型：
--
作者：
Anthony L. Gunderman;Jeremy Collins;Andrea L. Myers;R. Threlfall;Yue Chen
近年来，全球浆果的产量和消费量显著增加，与此同时，消费者对浆果有益健康的认识也在提高。在消费的浆果中，鲜食黑莓主要靠手工采摘以保持采后品质。然而，手工采摘过程中施加的力会导致大量可销售的浆果因红果粒逆转（RDR）而损失。此外，人工采摘成本高昂，占浆果生产人工工时的比例高达50%。在此，我们介绍一种新型的腱驱动软机器人抓手，它具有主动接触力反馈控制，利用抓手的被动柔顺性实现浆果的轻柔采摘。这种多功能抓手能够产生低至0.5牛的期望力，平均误差为0.046牛。田间试验结果表明，该机器人抓手能够以约4.8秒/颗的采摘速度采摘浆果，红果粒逆转率为16%，同时保持95.24%的采摘可靠性。
Global berry production and consumption have significantly increased in recent years, coinciding with increased consumer awareness of the health-promoting benefits of berries. Of those consumed, fresh-market blackberries are primarily harvested by hand to maintain postharvest quality. However, the forces applied during hand harvesting can result in major losses of marketable berries to red drupelet reversion (RDR). What is more, manual harvesting is a costly endeavor that accounts for up to 50% of the person-hours involved in berry production. Herein, we present a novel, tendon-driven soft robotic gripper with active contact force feedback control, which leverages the passive compliance of the gripper to allow the gentle harvesting of berries. The versatile gripper can generate a desired force as low as 0.5 N with a mean error of 0.046 N. Field test results indicate that the robotic gripper is capable of harvesting berries with 16% RDR while maintaining a harvesting reliability of 95.24% at a harvesting rate of approximately 4.8 seconds per berry.