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Design and Selection of Gripper

The document discusses the design considerations for a robotic gripper to handle fruits. It outlines important characteristics like fruit size, weight, and skin properties to consider. It also covers functional requirements, performance metrics, material selection, safety factors, and different gripper design options like vacuum or mechanical grippers.

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moihimanshu
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71 views4 pages

Design and Selection of Gripper

The document discusses the design considerations for a robotic gripper to handle fruits. It outlines important characteristics like fruit size, weight, and skin properties to consider. It also covers functional requirements, performance metrics, material selection, safety factors, and different gripper design options like vacuum or mechanical grippers.

Uploaded by

moihimanshu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Design and Selection of Gripper

Introduction
Fruit freshness grading is an essential aspect of agricultural production, ensuring quality and
minimizing waste. However, traditional manual grading methods are time-consuming and
prone to errors. Accurate sorting ensures that fruits meet quality standards, reduces waste,
and optimizes distribution. Traditional manual sorting is time-consuming, labor-intensive, and
prone to errors. Robotic systems equipped with intelligent grippers offer a promising solution
to automate this process efficiently.

Design Considerations
DefiningFruit Characteristics:

1. List of Fruits: Identify the specific fruits your system will handle. This helps tailor the
gripper design to their unique features.
Common varieties include: Red Delicious, Golden Delicious, Granny Smith, Fuji, Gala,
Honeycrisp, Pink Lady, Braeburn, McIntosh, Jonagold.
2. Size and Shape Range: Measure the minimum and maximum dimensions of each
fruit. Consider variations within the same fruit type.
3. Weight: Determine the weight of the heaviest fruit the gripper needs to handle. This
helps define the required gripping force.
4. Skin Delicacy: Categorize the fruits based on skin sensitivity (delicate, moderate,
robust) to guide material selection for the gripper.
- Delicate: Thin-skinned varieties (e.g., Gala).
- Moderate: Common varieties with medium-thick skin (e.g., Red Delicious).
- Robust: Thick-skinned varieties (e.g., Granny Smith).
5. Firmness Range:
Classify apples by firmness:
Soft (ripe apples)
Medium (partially ripe or crisp apples)
Firm (unripe apples)
Consider integrating firmness sensors for precise handling.

Functional Requirements:
Picking and Placing:
The gripper must efficiently pick objects (e.g., apples) from a conveyor or bin.
It should securely hold the objects during transport.
The release mechanism should gently place the objects without causing damage.

Performance Metrics:
Throughput:
Measure the number of objects handled per minute.
Optimize the gripper design for high throughput while maintaining accuracy.

Material Selection:
Food-Grade Materials: Use materials like stainless steel, silicone, or food-grade
plastic for all gripper components that come in contact with fruits.
Surface Properties: Match the gripper surface to the fruit skin texture.
Rough Skins: Textured surfaces might benefit from a slightly abrasive material for
better grip.
Smooth Skins: A slightly tacky surface on the gripper can improve hold without
damaging the fruit.

Safety Considerations:
Collision Avoidance:
Implement collision detection to prevent the gripper from hitting obstacles or other
robot parts.
Emergency stop mechanisms to halt gripper movement in critical situations.
Human Interaction:
Ensure safe interaction with humans in collaborative robot settings.
Compliance with safety standards (ISO 10218, ISO 13849).

Environmental Factors:
Temperature and Humidity:
Select materials that withstand varying environmental conditions (e.g., cold
storage, humid environments).
Chemical Resistance:
Consider exposure to cleaning agents or chemicals during maintenance.
Waterproof Design:
If the gripper operates in wet environments, ensure water resistance.

Gripper Design Options:


Gripping Mechanism:
Vacuum Grippers: Ideal for smooth-skinned fruits (apples, oranges) where a
good seal can be formed. Adjustable suction allows for handling various sizes. Not
suitable for porous fruits (berries).
Mechanical Grippers: Use three or four-fingered designs that conform to the
fruit's shape. Padding on the fingers helps prevent damage. Consider finger
adjustability for different sizes.
Combination Grippers: Combine vacuum and mechanical elements for textured
skins (mangoes, peaches). This offers versatility but might be more complex.

Sensor Integration (Optional):


Pressure Sensors: Integrate pressure sensors into the gripper fingers to detect
firmness and adjust grip strength accordingly. This is crucial for fruits with varying
firmness levels.
Vision Sensors: Consider incorporating a camera or vision sensor on the gripper or
robot arm. This allows for real-time size and color identification, guiding gripper
movement for precise handling and sorting based on these parameters.

Additional Considerations:
Cycle Time: How quickly does the gripper need to pick, place, and release fruits? This
influences the gripper's actuation speed and design complexity. Aim for a balance
between speed and gentle handling.
Cleaning and Maintenance: Grippers used with food require regular cleaning. Choose
a design that allows for easy disassembly and cleaning of parts that come in contact
with fruits. Consider replaceable gripping surfaces for extended use.
Gripper Selection Strategy:
1. Commercially Available Options: Research commercially available grippers designed
specifically for fruit handling. Companies like Festo, Schunk, and Robotiq offer grippers
with adjustable fingers and suction capabilities. These can be a good starting point,
especially for simpler applications.
2. Custom Gripper Design: If specific fruit characteristics or integration with your sorting
system require a unique solution, consider custom gripper design. This might involve
collaboration with a robotics engineer or a company specializing in custom gripper
development.

Case Studies or Examples:


Soft Gripper for Apple Harvesting:
Explore soft gripper designs used for delicate fruit handling.
Example: A Soft Gripper Design for Apple Harvesting .
Commercial Robotic Grippers:
Investigate grippers from companies like Festo, Robotiq, and Schunk.
Understand their features, adaptability, and performance.

Conclusion:
Designing an effective gripper involves a balance between functionality, safety, and
efficiency. By considering these factors, we can create a gripper that optimally handles
objects while adhering to safety standards and environmental constraints.

References:

1. Fu, Y., Nguyen, M., & Yan, W. Q. (2022). Grading Methods for Fruit Freshness Based
on Deep Learning. SN Computer Science, 3(264)1.
2. Frontiers in Plant Science. (2023). Volume 3, article number 2642.
3. https://www.bing.com/ck/a?!&&p=ec495d6caba75f73JmltdHM9MTcxMzkxNjgwMCZpZ3
VpZD0zMmEzYmRjZi01YmYxLTZiZjgtMTNlOS1hOWFjNWE0MzZhNWUmaW5zaWQ9
NTIzMA&ptn=3&ver=2&hsh=3&fclid=32a3bdcf-5bf1-6bf8-13e9-
a9ac5a436a5e&psq=griiper+for+sorting+fruits+instructable&u=a1aHR0cHM6Ly93d3cu
aW5zdHJ1Y3RhYmxlcy5jb20vRnJ1aXQtU29ydGVyLVJvYm90LVVzaW5nLUZsZXhpY
mxlLUdyaXBwZXIv&ntb=1

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