State-of-the-art robotic grippers, grasping and control strategies, as well as their applications in agricultural robots: A review

Zhang, Baohua; Xie, Yuanxin; Zhou, Jun; Wang, Kai; Zhang, Zhen

doi:10.1016/j.compag.2020.105694

Cited by 231 publications

(86 citation statements)

References 97 publications

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“…Although different authors have proposed a great variety of soft technologies [183][184][185][186][187], the main objective of all of them is to guarantee the safe interaction of the device with humans and the environment by using materials with a module similar, in terms of rigidity, to that of soft biological materials [187]. Several reviews of soft grippers can be found in the literature [19,33,[182][183][184][187][188][189], presenting various approaches to classify existing technologies. One of the most widely used approaches is the one that classifies the soft gripping technologies according to three different categories [190,191]: (i) actuation, (ii) control stiffness and (iii) controlled adhesion.…”

Section: Soft Grippersmentioning

confidence: 99%

“…The kinematics of human hands, the deformability of the skin and muscle, and their sense of touch give us efficient grasping abilities. Attempts to emulate human skills during harvesting have resulted in numerous mechanical end-effectors that can be classified according to their numbers of fingers into two major groups: multi-fingered and parallel grippers [19].…”

Section: Introductionmentioning

confidence: 99%

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Soft Grippers for Automatic Crop Harvesting: A Review

Navas

Fernández

Sepúlveda

et al. 2021

Sensors

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Agriculture 4.0 is transforming farming livelihoods thanks to the development and adoption of technologies such as artificial intelligence, the Internet of Things and robotics, traditionally used in other productive sectors. Soft robotics and soft grippers in particular are promising approaches to lead to new solutions in this field due to the need to meet hygiene and manipulation requirements in unstructured environments and in operation with delicate products. This review aims to provide an in-depth look at soft end-effectors for agricultural applications, with a special emphasis on robotic harvesting. To that end, the current state of automatic picking tasks for several crops is analysed, identifying which of them lack automatic solutions, and which methods are commonly used based on the botanical characteristics of the fruits. The latest advances in the design and implementation of soft grippers are also presented and discussed, studying the properties of their materials, their manufacturing processes, the gripping technologies and the proposed control methods. Finally, the challenges that have to be overcome to boost its definitive implementation in the real world are highlighted. Therefore, this review intends to serve as a guide for those researchers working in the field of soft robotics for Agriculture 4.0, and more specifically, in the design of soft grippers for fruit harvesting robots.

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Section: Soft Grippersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Soft Grippers for Automatic Crop Harvesting: A Review

Navas

Fernández

Sepúlveda

et al. 2021

Sensors

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“…Limit switches are used to determine the starting position of the device carriage. Depending on the selected tool (gripper [2] [14], drill bit, sprayer), the computing module sends a corresponding control signal to the installed tool.…”

Section: Description Of Interfacesmentioning

confidence: 99%

Microprocessor control system for a robotic platform for automated care for agricultural crops

et al. 2020

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In this paper, the use of electronic components for automating the care of agricultural crops is studied. A microprocessor control system has been developed, components of a robotic platform have been selected to ensure stable operation of the complex in the field. This platform combines ease of use and high performance. At the moment, there are few analogous foreign complexes with similar characteristics, therefore, the considered robotic platform is a promising development.

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“…Pick and place is critical part in automated manufacturing process. It is necessary to grip objects easily, [1,2]. Grasping and placing of objects are the main function for robotic manipulators.…”

Section: Introductionmentioning

confidence: 99%

Investigation of Friction Coefficient of the Surfcae of Robotic Gripper

2021

Journal of the Egyptian Society of Tribology

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Safe handling of products in production lines is an industrial application vastly needed for grippers. To ensure that, it is essential to determine the friction coefficient. In the present work, friction coefficient of the gripper surface is investigated. Rubber specimens of different hardness and roughness were tested as surface coating of the gripper. The tested rubber slid against the surface of polyester textiles. Experiments revealed that the friction coefficient decreased as the load increased. Increasing surface hardness of the rubber caused significant increase in friction coefficient. It was found that friction coefficient depends on the type of the textile specimens. Finally, friction coefficient significantly increases up to maximum then slightly decreases with increasing surface roughness. This observation recommends more investigations to select properly the rubber materials for coating gripper.

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State-of-the-art robotic grippers, grasping and control strategies, as well as their applications in agricultural robots: A review

Cited by 231 publications

References 97 publications

Soft Grippers for Automatic Crop Harvesting: A Review

Soft Grippers for Automatic Crop Harvesting: A Review

Microprocessor control system for a robotic platform for automated care for agricultural crops

Investigation of Friction Coefficient of the Surfcae of Robotic Gripper

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