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An Octopus-Inspired Bionic Flexible Gripper for Apple Grasping

Author

Listed:
  • Jie Pi

    (Institute of Agricultural Facilities and Equipment, Jiangsu Academy of Agricultural Sciences, Key Laboratory of Protected Agriculture Engineering in the Middle and Lower Reaches of Yangtze River Ministry of Agriculture and Rural Affairs, Nanjing 210014, China)

  • Jun Liu

    (Institute of Agricultural Facilities and Equipment, Jiangsu Academy of Agricultural Sciences, Key Laboratory of Protected Agriculture Engineering in the Middle and Lower Reaches of Yangtze River Ministry of Agriculture and Rural Affairs, Nanjing 210014, China)

  • Kehong Zhou

    (Institute of Agricultural Engineering, Jiangsu University, Zhenjiang 212001, China)

  • Mingyan Qian

    (Institute of Agricultural Facilities and Equipment, Jiangsu Academy of Agricultural Sciences, Key Laboratory of Protected Agriculture Engineering in the Middle and Lower Reaches of Yangtze River Ministry of Agriculture and Rural Affairs, Nanjing 210014, China)

Abstract

When an octopus grasps something, the rigidity of its tentacle can change greatly, which allowing for unlimited freedom, agility, and precision. Inspired by this, a three-finger flexible bionic robot gripper was designed for apple picking. First, a flexible chamber finger was designed to drive the gripper finger to elongate, shorten, and bend, which works through a process of inflating and deflating. Further, we proposed a three-finger mode to achieve two kinds of motion states: grasping and relaxing, by simulating the movement of an octopus grasping at something. In this paper, we evaluated the bending property of the designed flexible bionic gripper through an apple grasping experiment. The experimental results show that the 100.0 g bionic gripper can load an apple with a weight of 246.5~350.0 g and a diameter of 69.0~99.0 mm, and the grasping success rate is 100%. It has a good grasping performance. Compared to other soft grippers, the proposed bionic flexible gripper has the advantages of being lightweight, and having good cushioning, low driving air pressure, and a strong grasping force.

Suggested Citation

  • Jie Pi & Jun Liu & Kehong Zhou & Mingyan Qian, 2021. "An Octopus-Inspired Bionic Flexible Gripper for Apple Grasping," Agriculture, MDPI, vol. 11(10), pages 1-16, October.
    • Handle: RePEc:gam:jagris:v:11:y:2021:i:10:p:1014-:d:658333
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    Cited by:

    1. Tingwu Yan & Peijuan Li & Yiting Liu & Tong Jia & Hanqi Yu & Guangming Chen, 2023. "Research on Hand–Eye Calibration Accuracy Improvement Method Based on Iterative Closest Point Algorithm," Agriculture, MDPI, vol. 13(10), pages 1-14, October.

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