外观
论文arXiv 2610.1816015 天前
基于力传感器的温室樱桃番茄机器人采摘模式分析与二指夹爪设计
面向温室樱桃番茄采摘，论文用六轴力/扭矩数据驱动设计仿生柔顺夹爪，并在仿真和商业温室真机试验中验证。
Universal Robots UR5e原文链接：Force Sensor-Based Picking Pattern Analysis and Two-Jaw Gripper Design for Cherry Tomato Robotic Harvesting in Greenhouse（arXiv 2610.18160 · 发布日期：2026-10-13）
Force Sensor-Based Picking Pattern Analysis and Two-Jaw Gripper Design for Cherry Tomato Robotic Harvesting in Greenhouse
面向温室樱桃番茄采摘，论文用六轴力/扭矩数据驱动设计仿生柔顺夹爪，并在仿真和商业温室真机试验中验证。
核心要点
- 动机：密集果串、脆弱果皮及柔和脱离需求，使温室樱桃番茄机器人采摘困难。
- 方法：采集抓握、扭转、侧拉三种人工采摘力学特征，设计指尖局部Finray柔顺夹爪。
- 实现：以电流扭矩控制施加测得抓握力和45°腕部扭转，并结合有限元分析应力。
- 实验：在Isaac Sim和50次温室自主试验中，成功率86.0%、损伤2.3%、周期8.4 s。
验证范围与局限：验证范围为NVIDIA Isaac Sim仿真及阿布扎比SILAL商业温室50次自主试验，结论为测试设施和品种条件下的初步可行性。
英文摘要 (Abstract)
Robotic harvesting of cherry tomatoes in greenhouses remains challenging due to dense fruit clusters, delicate skin, and the need for gentle yet effective detachment. This study presents a force-data-driven framework for autonomous cherry tomato harvesting that integrates six-axis force/torque sensing, a bio-inspired compliant gripper, and deployment on a mobile robotic platform. A wearable ATI six-axis force/torque sensor mounted on the index finger captured kinetic signatures of three elemental picking patterns (gripping, twisting, and lateral pulling) across 150 manual trials (50 per pattern) in laboratory and greenhouse settings. Gripping required a peak normal force of 3.92 and 0.45 N, twisting produced a dominant torque of 19.20 2.10 Nmm about the pedicel axis with minimal truss disturbance, and pure lateral pulling alone was insufficient for reliable detachment. These measurements informed a novel fingertip-localised Finray gripper, with compliant TPU 95A Finray geometry restricted to the fruit-contact region and a rigid PLA body, emulating the dual-stiffness human fingertip. A Dynamixel XM430-W350 servomotor under current-based torque control applies the measured gripping force and a 45° wrist twist. Finite element analysis showed a maximum von Mises stress of 0.24 MPa under the 3.92 N load, below the bruising threshold of cherry tomato skin. Integrated on a UR5 arm and Clearpath Husky A200 base, the system was validated in NVIDIA Isaac Sim and in 50 autonomous trials at the SILAL commercial greenhouse, Abu Dhabi, UAE. The hybrid grip-twist-pull strategy achieved an 86.0% picking success rate, 2.3% fruit damage, and an 8.4 s cycle time per fruit, outperforming vacuum (66.3%), rotating (70.1%), clamping (76.0%), and suction-cutting (52.4%) end-effectors. These results demonstrate preliminary feasibility under the tested facility and cultivar conditions
作者：Rajmeet Singh, Manveen Kaur, Yusuf Adamu, Irfan Hussain
来源
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