ASPECTS REGARDING “SOFT” GRASPING IN SMART AGRICULTURAL HARVESTING TASKS

Ciprian-Radu RAD, Olimpiu H ANCU, Ciprian LAPUSAN

Abstract


Soft robotics is an exciting research field with the potential to revolutionize many engineering domains including precision agriculture. Soft grippers are bio-inspired soft robotics devices with a high degree of compliance which offers unprecedented advantages in grasping and handling fragile objects. In this context, this paper presents aspects concerning the design of grippers with soft grasping capabilities for smart agricultural harvesting tasks. Latest advances of soft gripping technologies are presented in the first part and then a systematic design methodology adapted according to VDI guidelines 2221 is proposed and used to exemplify the phases in designing a soft gripper for harvesting soft and juicy fruits

Full Text:

PDF

References


C.-R. Rad, O. Hancu, I.-A. Takacs and G. Olteanu, Smart Monitoring of Potato Crop: A Cyber-Physical System Architecture Model in the Field of Precision Agriculture, Agriculture and Agricultural Science Procedia, Vol. 6, pp. 73-79, 2015.

R.R. Shamshiri, C. Weltzien, I.A. Hameed, I.J. Yule, T.E. Grift, S.K. Balasundram, et al., Research and development in agricultural robotics: A perspective of digital farming, Int J Agric & Biol Eng, Vol. 11(4), pp. 1–14, 2018.

G. Chowdhary, M. Gazzola, G. Krishnan, C. Soman, S. Lovell, Soft Robotics as an Enabling Technology for Agroforestry Practice and Research., Sustainability, 11(23), 6751, 2019.

F. Rodríguez, J. C. Moreno, J. A. Sánchez and M. Berenguel, Grasping in Agriculture: State-of-the-Art and Main Characteristics, In: Carbone G. (eds) Grasping in Robotics. Mechanisms and Machine Science, vol 10. Springer, London, 2012.

T. Duckett et. al., Agricultural Robotics: The Future of Robotic Agriculture, UK-RAS White Papers, London, 2018.

B. Zhang, Y. Xie, J. Zhou, K. Wang, Z. Zhang, State-of-the-art robotic grippers, grasping and control strategies, as well as their applications in agricultural robots: A review, Computers and Electronics in Agriculture, Vol. 177, 105694, 2020.

D. Trivedi, C. D. Rahn, W. M. Kier and I. D. Walker, Soft robotics: Biological inspiration, state of the art, and future research, Applied Bionics and Biomechanics, Vol. 5(3), pp. 99-117, 2008.

G. Bao, H. Fang, L. Chen, Y. Wan, F. Xu, Q. Yang, L. Zhang, Soft Robotics: Academic Insights and Perspectives Through Bibliometric Analysis. Soft Robot., Vol. 5(3), pp. 229-241, 2018.

J. Shintake, V. Cacucciolo, D. Floreano, H. Shea, Soft Robotic Grippers, Adv. Mater., Vol. 30, 1707035, 2018.

D. Rus, M. Tolley, Design, fabrication and control of soft robots, Nature, Vol. 521, pp. 467–475, 2015.

G. Alici. Softer is Harder: What Differentiates Soft Robotics from Hard Robotics?, MRS Advances, Vol. 3(28), pp. 1557-1568, 2018.

G.J. Monkman, S. Hesse, R. Steinmann, H. Schunk. Robot grippers. John Wiley & Sons, ISBN: 9783527406197, 2007.

R. Curta, B. Moldovan and M. Steopan, Automating the feeding of a coordinate measuring machine, Journal Acta Technica Napocensis-Series: Applied Mathematics, Mechanics, and Engineering, Vol. 63 (1), pp. 91-94, 2020.

G. Pahl et al., Engineering Design – A Systematic Approach 3rd Edition, Springer-Verlag London, ISBN: 978-1-84628-318-5, 2007.

M. Ceccarelli, Fundamentals of Mechanics of Robotic Manipulation, Springer Netherlands, ISBN:978-1-4020-1810-7, 2004.


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :