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This paper presents a customized mechanical design and kinematic analysis of the robotic gripper intended for automated plum harvesting. This paper presents a robotic solution that integrates a gimbal joint mechanism of a long-range telescopic robot arm with a cutting gripper mechanism to achieve this goal. The design avoids traditional scissor-like mechanisms and instead utilizes a parallel cutting system for enhanced precision and dual function in single operation, cutting and griping. The research focuses on kinematic analysis and design of the electromechanical fruit-picking system and transformation of rotational motion into two opposite linear motions required for efficient cutting and gripping. Additionally, the study includes complementary kinematic and dynamic analyses, as well as potential improvements for future novel applications.

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Robotic Gripper Mechanism for Plum Harvesting: Mechanical Design and Actuation

  • 会议论文

  • 发表日期：

    2025年

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  • Ilija Stevanović,
  • Uroš Ilić,
  • Aleksandar Milenković,
  • Aleksandar Rodić

摘要

This paper presents a customized mechanical design and kinematic analysis of the robotic gripper intended for automated plum harvesting. This paper presents a robotic solution that integrates a gimbal joint mechanism of a long-range telescopic robot arm with a cutting gripper mechanism to achieve this goal. The design avoids traditional scissor-like mechanisms and instead utilizes a parallel cutting system for enhanced precision and dual function in single operation, cutting and griping. The research focuses on kinematic analysis and design of the electromechanical fruit-picking system and transformation of rotational motion into two opposite linear motions required for efficient cutting and gripping. Additionally, the study includes complementary kinematic and dynamic analyses, as well as potential improvements for future novel applications.