Assessment of Grasp Ability for An End-effecter with Fin-ray Structure

In this article, a flexible three-finger end-effector based on fin ray effect (FRE) was performed to evaluate the ability to resist dynamic loads during apple picking. A finite element method (FEM) simulation was performed to predict the FRE gripper’s tensile force using Abaqus software. The results of response surface analysis (RSM) showed the significant effects of TPU stiffness, grasp distance and fruit size on the vertical tension of the end-effector. Moreover, there is a good correlation between the test results and the regression model. The findings in the present study provide a reference for the application of the FRE gripper in fruit harvesting.