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<p>To enable effective mechanical harvesting of Citrus Reticulata ‘Ehime 38’ (Guodongcheng), a dexterous five-finger robotic gripper was previously developed. However, the lack of quantitative biomechanical data for this cultivar posed a major challenge in designing appropriate grasping and control strategies. This study aimed to systematically analyze the mechanical properties of Guodongcheng through uniaxial compression, puncture, and creep experiments. The viscoelastic response was characterized by the Burgers model. Results showed that the fruit exhibited higher rupture strength and stiffness in the axial direction than in the radial direction, while rupture displacement remained relatively stable. The creep deformation was consistently lower in the axial direction, confirming anisotropic mechanical behavior. Among the statistical comparison of five classical viscoelastic models, the Burgers model provided the best characterization and was extended to a dynamic form capable of predicting the coupled time–force–displacement response. These findings filled a critical knowledge gap in the biomechanical characterization of ‘Ehime 38’ and provided a theoretical basis for optimizing grasping and control strategies of a five-fingered robotic gripper in the mechanized harvesting of the citrus, including determining optimal grasping positions, force ranges, grasp rate, etc.</p>

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Mechanical properties and creep modeling of citrus Reticulata ‘Ehime 38’ for low-damage mechanical harvesting

  • 期刊论文

  • 发表日期：

    2026年1月9日

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  • Daode Zhang,
  • Yanyu Pan,
  • Ziwen He,
  • Siqi Wang,
  • Rui Lu,
  • Xinyu Hu

摘要

To enable effective mechanical harvesting of Citrus Reticulata ‘Ehime 38’ (Guodongcheng), a dexterous five-finger robotic gripper was previously developed. However, the lack of quantitative biomechanical data for this cultivar posed a major challenge in designing appropriate grasping and control strategies. This study aimed to systematically analyze the mechanical properties of Guodongcheng through uniaxial compression, puncture, and creep experiments. The viscoelastic response was characterized by the Burgers model. Results showed that the fruit exhibited higher rupture strength and stiffness in the axial direction than in the radial direction, while rupture displacement remained relatively stable. The creep deformation was consistently lower in the axial direction, confirming anisotropic mechanical behavior. Among the statistical comparison of five classical viscoelastic models, the Burgers model provided the best characterization and was extended to a dynamic form capable of predicting the coupled time–force–displacement response. These findings filled a critical knowledge gap in the biomechanical characterization of ‘Ehime 38’ and provided a theoretical basis for optimizing grasping and control strategies of a five-fingered robotic gripper in the mechanized harvesting of the citrus, including determining optimal grasping positions, force ranges, grasp rate, etc.