Original scientific paper

https://doi.org/10.21278/TOF.481050923

Experimental Study on the Effects of Crossbeam Parameters in a Fin Ray Robotic Gripper in the Field of Horticulture Applications

Selvamarilakshmi D orcid.org/0000-0002-8045-850X ; Department of Mechanical Engineering, College of Engineering Guindy, Anna University, Chennai, India
Prasanna J ; Department of Mechanical Engineering, College of Engineering Guindy, Anna University, Chennai, India

Abstract

This research introduces an optimal Fin Ray gripper design for vegetable handling in horticulture applications. Fin Ray grippers are triangular with crossbeams. The gripper flexes and adjusts to the structure of the object upon activation. The change in the gripper’s form resembles fish fin physiology. This research entails the design and fabrication of Fin Ray inclined grippers with variations in their geometrical structure, namely, the gap between the crossbeams, the inclination angle of the crossbeams, and the thickness of the crossbeams. The Box-Behnken design and analysis of variance approaches were used to assess the major impacts, interactions, and importance of the crossbeam's characteristics on weightlifting capacity and displacement. The Fin Ray gripper design parameters were successfully optimised by the chosen Response Surface Methodology. Less force is needed to obtain a good grasp on an object when a design is made to achieve optimum weightlifting capacity and bending displacement. The gripper's design and analysis, as well as the experimental results demonstrating how well it handles various types of vegetables, are described in the paper. The design of an optimal Fin Ray gripper presents a new and unique idea for adaptive grasping in horticultural robots.

Keywords

Box-Behnken design; crossbeams; Fin Ray gripper; RSM; horticultural robots

Hrčak ID:

312875

URI

https://hrcak.srce.hr/312875

Publication date:

1.1.2024.

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