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<p>To overcome the limitations of gripping stability, output force, and gripping range in soft robotic grippers used for fruit harvesting, this study proposes a rigid-flexible coupled robotic gripper capable of self-adjusting to the size of nectarines. Inspired by the scale-like exoskeleton of shrimp abdominal segments, rigid shells were applied to the outer surface of the soft fingers, forming a rigid-flexible coupled structure that enhances stiffness. The rationality of the structural design was validated through finite element analysis. The gripper uses linkage mechanism to adjust finger positions and dynamically modify the gripping range through control system, enabling adaptive gripping of nectarines of various sizes. The effectiveness of structure in enhancing finger stability and output force was verified through bending, force output, and stability tests. Orchard harvesting test demonstrated an 83.3 % harvesting success rate and a 3.94 % fruit damage rate. This study offers a reference for the development of automated harvesting technologies.</p>

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Design and testing of a rigid-flexible coupled robotic gripper for nectarine harvesting

  • 期刊论文

  • 发表日期：

    2026年4月9日

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  • Min Fu,
  • Xiaoman Cui,
  • Lei Chen,
  • Ji Cui,
  • Gangqiang Yang,
  • Zijian Wang

摘要

To overcome the limitations of gripping stability, output force, and gripping range in soft robotic grippers used for fruit harvesting, this study proposes a rigid-flexible coupled robotic gripper capable of self-adjusting to the size of nectarines. Inspired by the scale-like exoskeleton of shrimp abdominal segments, rigid shells were applied to the outer surface of the soft fingers, forming a rigid-flexible coupled structure that enhances stiffness. The rationality of the structural design was validated through finite element analysis. The gripper uses linkage mechanism to adjust finger positions and dynamically modify the gripping range through control system, enabling adaptive gripping of nectarines of various sizes. The effectiveness of structure in enhancing finger stability and output force was verified through bending, force output, and stability tests. Orchard harvesting test demonstrated an 83.3 % harvesting success rate and a 3.94 % fruit damage rate. This study offers a reference for the development of automated harvesting technologies.