Design of a flexible end-effector based on characteristics of tomatoes

The end-effector is the last executing part of interaction between robots and fruits. In this paper, physical characteristics tomatoes tomato fluidic elastomer actuator type were studied. There was no correlation test point, mass, size rupture force tomatoes. non-destructive clamping 11.13 N. statistically significant correlations number finger chambers, transverse diameter tomatoes, inflation pressure force. directly proportional to Since fingers with more chambers had higher flexibility, inversely slope horizontal force-pressure curve, angle total direction. A flexible designed by genetic algorithm according simulation results end-effector. showed that would be successfully clamped composed three four-chamber in a static situation less than optimized (28.293 kPa). When dynamic situation, success rate being an 29 kPa 97%. not damaged. Keywords: end-effector, fluid actuator, non-destructive, flexible, Genetic Algorithm, DOI: 10.25165/j.ijabe.20221502.6672 Citation: Zhou K H, Xia L R, Liu J, Qian M Y, Pi J. Design based on Int J Agric & Biol Eng, 2022; 15(2): 13–24.