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This paper presents the development of a soft end effector for the efficient picking of delicate agricultural products. Unlike existing soft grippers, our system introduces a modular biomimetic design that incorporates thermoplastic polyurethane (TPU) elements to ensure gentle and safe gripping without damaging products. The developed system dynamically adjusts the gripping force by means of integrated sensors, adapting to the shape and delicacy of the product through active control of the pressure exerted by the individual gripping elements. Simulations and experimental tests have demonstrated the system’s effectiveness in handling crops of various shapes and sizes, highlighting its potential for improving harvesting processes and contributing to agricultural automation. The results open up new opportunities for more efficient and sustainable food production.

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Development of a Soft Device for Harvesting Agricultural Products

  • 会议论文

  • 发表日期：

    2025年

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  • Dario Nigro,
  • Cristian Montesano,
  • Domenico Lancellotti,
  • Luis Orlenis Tey Tomacen,
  • Ugo Lanza,
  • Lorenzo Graceffa,
  • Elizabeth Moya Rodriguez,
  • Simone Leone,
  • Giuseppe Carbone

摘要

This paper presents the development of a soft end effector for the efficient picking of delicate agricultural products. Unlike existing soft grippers, our system introduces a modular biomimetic design that incorporates thermoplastic polyurethane (TPU) elements to ensure gentle and safe gripping without damaging products. The developed system dynamically adjusts the gripping force by means of integrated sensors, adapting to the shape and delicacy of the product through active control of the pressure exerted by the individual gripping elements. Simulations and experimental tests have demonstrated the system’s effectiveness in handling crops of various shapes and sizes, highlighting its potential for improving harvesting processes and contributing to agricultural automation. The results open up new opportunities for more efficient and sustainable food production.