Work

Optimal Design of 3D-Printed Flexible Fingers for Robotic Soft Gripping of Agricultural Products

Year: 2025

Type: article

Abstract: Handling delicate agricultural products, such as tomatoes, requires careful attention from workers during harvesting, sorting, and packaging processes. This labor-intensive approach is often inefficient and susceptible to human error. A potential solution to improve efficiency is the development of automated systems capable of replacing manual labor. However, such systems face significant challenges due to the irregular shapes and fragility of these products, requiring specialized adaptable and soft gripping mechanisms. In this context, this paper introduces a parametric design methodology for 3D-printed flexible fingers in soft grippers, tailored for agricultural applications. The approach was tested in a case study that targeted soft agricultural products with diameters between 45 and 75 mm. Three finger topologies were modeled and compared to identify an optimal configuration. A prototype was then developed using 3D printing with Z-SemiFlex. Experimental tests confirmed that the prototype could grasp different fruits reliably and without surface damage. It achieved an Average Precision (AP) of 87.5% for tomatoes and 92.5% for mandarins across 80 trials. These results validate the feasibility of the proposed design methodology for fingers in soft grippers.

Source: Actuators

DOI: 10.3390/act14100468

Authors: Ciprian Lapusan, Radu Stefan Chiorean, Radu Matis

Institution: Technical University of Cluj-Napoca

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Zero hunger

Open Access status: gold

Estimated APC paid: $2,896