Multifunctional soft mechanical arm for detecting ripeness of fruits

Abstract

The invention discloses a multifunctional soft mechanical arm for detecting the ripeness of fruits. The soft mechanical arm comprises a gripper assembly, a plurality of connectors, soft body single fingers, a soft body strain sensor and a soft body pressure sensor, wherein the plurality of connectors fixedly arranged below the gripper assembly, the soft body single finger is fixedly arranged belowthe connectors, the soft body strain sensor and the soft body pressure sensor are fixed on the inner side of the soft body single fingers, the soft body single fingers are bent and deformed under thedriving of air pressure, the soft body strain sensor is used for measuring the bending deformation of the soft body single fingers when grabbing fruits with different sizes, the soft body pressure sensor is used for measuring the change of the contact surface capacitance so as to identify the hardness of the fruits. According to the multifunctional soft mechanical arm, the size and the hardness of different fruits can be recognized through the soft body strain sensor and the soft body pressure sensor, so that the ripeness of the fruits can be well detected, and the sorting or picking tasks ofthe ripe fruits can be completed.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a multifunctional soft manipulator for detecting fruit ripeness. Background technique [0002] Soft robots are emerging hotspots and the forefront of future development in robotics today. Compared with traditional rigid robots, they have shown unprecedented adaptability, sensitivity and agility, and are constantly expanding the application fields of robots. They are the future development of robots. One of the major trends. [0003] Soft manipulators are one of the main directions of soft robot research. At present, based on intelligent drive methods such as pneumatics and memory alloys (SMA), many different types of soft manipulators have been developed. [0004] However, the various types of soft manipulators currently developed basically only have simple picking functions, and they have good grasping capabilities for fragile objects. Check fruit ripeness during the proce...

AI Technical Summary

Problems solved by technology

[0004] However, the various types of soft manipulators currently developed basically only have simple picking functions, and they have good grasping capabilities for fragile objects. In-process detection of fruit ripeness

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