Open AccessAssessment of Grasp Ability for An End-effecter with Fin-ray Structure
Author(s) -
Lingxin Bu,
Guangrui Hu,
Jun Chen
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1865/3/032030
Subject(s) - grasp , finite element method , stiffness , structural engineering , fin , software , regression analysis , robot end effector , tension (geology) , ultimate tensile strength , response surface methodology , engineering , computer science , mechanical engineering , materials science , composite material , artificial intelligence , machine learning , robot , programming language , software engineering
In this article, a flexible three-finger end-effector based on fin ray effect (FRE) was performed to evaluate the ability to resist dynamic loads during apple picking. A finite element method (FEM) simulation was performed to predict the FRE gripper’s tensile force using Abaqus software. The results of response surface analysis (RSM) showed the significant effects of TPU stiffness, grasp distance and fruit size on the vertical tension of the end-effector. Moreover, there is a good correlation between the test results and the regression model. The findings in the present study provide a reference for the application of the FRE gripper in fruit harvesting.