ASPECTS REGARDING “SOFT” GRASPING IN SMART AGRICULTURAL HARVESTING TASKS

摘要

Soft robotics is an exciting research field with the potential to revolutionize many engineering domains including precision agriculture. Soft grippers are bio-inspired soft robotics devices with a high degree of compliance which offers unprecedented advantages in grasping and handling fragile objects. In this context, this paper presents aspects concerning the design of grippers with soft grasping capabilities for smart agricultural harvesting tasks. Latest advances of soft gripping technologies are presented in the first part and then a systematic design methodology adapted according to VDI guidelines 2221 is proposed and used to exemplify the phases in designing a soft gripper for harvesting soft and juicy fruits