新型软体夹爪实现轻柔高效采摘，适配多种尺寸水果
ANGEL: A Novel Gripper for Versatile and Light-touch Fruit Harvesting
- 仿抽绳结构的缆线驱动软爪，通过钢丝收紧均匀受力
- 番茄采摘零即时损伤，五天后淤伤率低于9%
- 结构简单成本低，适合果园机器人快速部署
果实采摘仍以人工为主，推动机器人夹爪研究。传统刚性或真空夹爪设计复杂、能耗高；现有包络式夹爪难以适应不同尺寸果实。本文提出一种仿抽绳结构的缆线驱动软体夹爪，采用3D打印热塑性聚氨酯（TPU）口袋内嵌钢丝，驱动时收紧包裹果实，压力分布均匀，减少压伤，并可适应多种尺寸水果。轻量化结构部件少，降低机械复杂度与成本。通过舵机驱动缆线控制，电机反馈实现自适应抓握与可调抓力。实验验证：在夹爪有效尺寸范围内的番茄采摘中，即时损伤率为0%，五日后淤伤率低于9%，证明其适用于果品采摘。
原文摘要 · Abstract (English)
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption. Current enveloping-based fruit harvesting grippers lack adaptability to fruits of different sizes. This paper introduces a drawstring-inspired, cable-driven soft gripper for versatile and gentle fruit harvesting. The design employs 3D-printed Thermoplastic Polyurethane (TPU) pockets with integrated steel wires that constrict around the fruit when actuated, distributing pressure uniformly to minimize bruising and allow versatility to fruits of varying sizes. The lightweight structure, which requires few components, reduces mechanical complexity and cost compared to other grippers. Actuation is achieved through servo-driven cable control, while motor feedback provides autonomous grip adjustment with tunable grip strength. Experimental validation shows that, for tomatoes within the gripper's effective size range, harvesting was achieved with a 0% immediate damage rate and a bruising rate of less than 9% after five days, reinforcing the gripper's suitability for fruit harvesting.
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