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New design and construction of a mechanical gripping device with a telescopic link of a fruit harvesting robot

Published online by Cambridge University Press:  11 November 2024

Larisa Rybak Open the ORCID record for Larisa Rybak [Opens in a new window] ,
Giuseppe Carbone Open the ORCID record for Giuseppe Carbone [Opens in a new window] ,
Santhakumar Mohan Open the ORCID record for Santhakumar Mohan [Opens in a new window] ,
Elena Gaponenko Open the ORCID record for Elena Gaponenko [Opens in a new window] ,
Dmitry Malyshev Open the ORCID record for Dmitry Malyshev [Opens in a new window]  and
Artem Voloshkin Open the ORCID record for Artem Voloshkin [Opens in a new window]
Larisa Rybak*
Affiliation:
Belgorod State Technological University named after V.G Shukhov, Belgorod, Russia
Giuseppe Carbone
Affiliation:
Department of Mechanical, Energy and Management Engineering, University of Calabria, Rende, Italy
Santhakumar Mohan
Affiliation:
Indian Institute of Technology Palakkad, Palakkad, India
Elena Gaponenko
Affiliation:
Belgorod State Technological University named after V.G Shukhov, Belgorod, Russia
Dmitry Malyshev
Affiliation:
Belgorod State Technological University named after V.G Shukhov, Belgorod, Russia
Artem Voloshkin
Affiliation:
Belgorod State Technological University named after V.G Shukhov, Belgorod, Russia
*
Corresponding author:Larisa Rybak; Email: [email protected]
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Abstract

Gripping devices for harvesting fruits have such types of work as cutting, tearing and unscrewing. For apples, it is preferable to use slicing or unscrewing, while the fruit leg should not remain, damaging the apple during storage. In this article, we are developing a grab for harvesting apples. The gripper is used both for holding the fruit and for jamming, followed by unscrewing. One of the advantages is that the proposed method of collecting apples allows you not to waste time moving the manipulator from the tree to the basket, but only to grab and tear them off. The fruit enters the gripper device; after which it enters the fruit collection container through a rigid or flexible pipe. The gripper device is built on the basis of a ball-screw transmission, which is supplemented by a gear drive along the helical surface. This allows for rotation and rectilinear movement of the held fruit. The gripping device has a ratchet mechanism that allows you to fix the fruit. A mathematical model of the gripper device has been developed, which allows determining the torque of the engine depending on the position of the fingers. The parameters of the mechanism were optimized using a genetic algorithm, and the results are presented in the form of a Pareto set. A 3D model of the gripper device has been built and a layout has been developed using 3D printing. Experimental laboratory and field tests of the gripping device were carried out.

Keywords

gripping devicefruit harvestinggenetic algorithmpareto setball-screw transmission
Type
Research Article
Information
Robotica , Volume 43 , Issue 1 , January 2025 , pp. 69 - 85
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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