Design of Modular Soft Gripper for Harvesting

Abstract

Soft robotics presents a transformative approach to agricultural automation, addressing the limitations of traditional mechanical systems in handling delicate crops. This paper introduces a modular soft robotic gripper designed for gentle harvesting applications, with a focus on adaptability, precision, and crop safety. The gripper's performance was evaluated through Finite Element Analysis (FEA) and experimental testing, targeting its ability to conform to obj ects of varying shapes, sizes, and fragility. The FEA confirmed the gripper's capability to apply a load based on the gripped crop of the range 0.6 - 0.75 N, sufficient for damage-free harvesting of sensitive produce like strawberries and tomatoes. Experimental results validated the gripper's adaptability, durability, and repeatability under diverse configurations, achieved through strategic finger placement adjustments. These findings highlight the potential of modular soft grippers in reducing crop damage, enhancing efficiency, and paving the way for sustainable agricultural practices. This research establishes a foundation for further exploration of soft robotic grippers in real-world agricultural environments, with opportunities for optimization in material properties, actuation mechanisms, and scalability.