Flexible pneumatic end-effector for agricultural robot: Design & experiment

Due to the specificity of operation objects, the end-effector for agricultural robot must have adequate active flexibility, adaptability and security. Based on Flexible Pneumatic Actuator (FPA), a flexible pneumatic bending joint was designed which had both contact rigidity and grasping flexibility. The mathematic model of bending joint was built based on force/torque balance principle. The bending angle and output force relationships with the pressure of cavity were analyzed. Based on flexible pneumatic bending joint, the agricultural fruit picking end-effector was proposed, and its grasping mathematic model and control system were built. Experimental setup was designed to carry out the testing and comparing investigation with simulation. The results indicate that the theory models match the experiment result. This end-effector can produce enough force for grasping fruit like apple, and has enough active compliance and adaption.