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Abstract：
Agriculture 4.0 presents several challenges for the automation of various operations, including the fundamental task of harvesting. One of the crucial aspects in the automatic harvesting of high value crops is the grip and detachment of delicate fruits without spoiling them or interfering with the environment. Soft robotic systems, particularly soft grippers, offer a promising solution for this problem, as they can operate in unstructured environments, manipulate objects delicately, and interact safely with humans. In this context, this article presents a soft gripper design for harvesting as well as for pick-and-place operations of small and medium-sized fruits. The gripper is fabricated using the 3D printing technology with a flexible thermoplastic elastomer filament. This approach enables the production of an economical, compact, easily replicable, and interchangeable gripper by utilizing soft robotics principles, such as flexible structures and pneumatic actuation.
摘要：
农业4.0对各种操作的自动化提出了几个挑战，包括收获的基本任务。自动收获高价值作物的关键方面之一是对精致水果的抓握和分离，而不会破坏它们或干扰环境。软机器人系统，特别是柔软的夹子，为这个问题提供一个有希望的解决方案，因为它们可以在非结构化环境中运行，巧妙地操纵物体，并与人类安全互动。在这种情况下，本文介绍了一种用于收获以及中小型水果的拾取和放置操作的软夹持器设计。夹持器使用具有柔性热塑性弹性体长丝的3D打印技术制造。这种方法使生产的经济，紧凑型,易于复制，利用软机器人原理和可互换的夹持器，如柔性结构和气动驱动。
