Research on low damage apple picking end-effector

YuanHang Wang

doi:10.1117/12.2661508

31 October 2022 Research on low damage apple picking end-effector

YuanHang Wang

Proceedings Volume 12457, Second International Conference on Testing Technology and Automation Engineering (TTAE 2022); 124570S (2022) https://doi.org/10.1117/12.2661508
Event: Second International Conference on Testing Technology and Automation Engineering (TTAE 2022), 2022, Changchun, China

Abstract

In order to reduce the damage rate of apples, the stress variation inside apples was studied when apples were grasped by end-effectors with different types of finger surfaces. The finite element model of each part of the apple was constructed by simulation tests with ANSYS. The process of grasping an apple with flat fingers and a three-point gripping method was simulated. Key point stress and deformation distribution maps were obtained for 3 parts of the apple peel, flesh and core. The results showed that the stress at the peel was the greatest during grasping and the peel was most vulnerable to be damaged. At the same time, when the loading forces were the same, the gripping of apples by the three-point gripping method caused less stress on all parts of the apples and less deformation on the apples. When the gripping force was 10, 25, 40 and 55N, the deformation caused by grasping with flat fingers is 32%, 51%, 56% and 54% larger than that of three-point gripping, respectively. Therefore, the probability of mechanical damage to the peel caused by the three-point gripping method was low. This result enabled a more accurate prediction and assessment of apple damage feasible. It also provided a reference for the optimal design of the end-effector of the picking robot in terms of fruit damage reduction.

Citation Download Citation

YuanHang Wang "Research on low damage apple picking end-effector", Proc. SPIE 12457, Second International Conference on Testing Technology and Automation Engineering (TTAE 2022), 124570S (31 October 2022); https://doi.org/10.1117/12.2661508

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