Optimization and Experimental Study of Bionic Compliant End-effector for Robotic Cherry Tomato Harvesting  

作　　者：Huaibei Xie Deyi Kong Qiong Wang 

机构地区：[1]Institute of Intelligent Machines,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Hefei 230031,China [2]Science Island Branch of Graduate School,University of Science and Technology of China,Hefei 230026,China [3]School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China [4]Innovation Academy for Seed Design,Chinese Academy of Sciences,Sanya 572024,China

出　　处：《Journal of Bionic Engineering》2022年第5期1314-1333,共20页仿生工程学报（英文版）

基　　金：This work was supported by Anhui Provincial Major Science and Technology Project(Project No.202203a06020002);the Fundamental Research Funds for the Central Universities(No.BC210202084).

摘　　要：High harvesting success rate is part of the key technologies for robotic cherry tomato harvesting,which is closely related to the structural design of the end-effector.To obtain a high success rate of fruit harvesting,this paper presents a compliant end-effector with bio-inspired tarsus compliant gripper inspired by the structure and mechanics of the tarsal chain in the Serica orientalis Motschulsky.Response Surface Methodology(RSM)based on Box Behnken Design(BBD)technique has been used to optimize the key structural parameters of the bionic compliant end-effector for achieving the expected results in pulling pattern for robotic cherry tomato harvesting.Experiments were designed by maintaining three levels of four process parameters—Length of the Offset Segment Tarsomere(OSTL),Angle of the Inclined Segment Tarsomere(ISTA),Thickness of the Extended Segment Tarsomere(ESTT)and Length of the Extended Segment Tarsomere(ESTL).According to the optimization analysis results,the best parameter combination is OSTL 23 mm,ISTA 14°,ESTT 5.0 mm,ESTL 23 mm.Besides,the harvesting performance of the optimized bionic compliant end-effector was verified by experiments.The results indicated the harvesting success rate of fruits with different equatorial diameters was not less than 76%.

关 键 词：Compliant end-efector Bio-inspired tarsus gripper Response surface Configuration optimization Cherry tomato Robotic harvesting 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]