トマト収穫用ハイブリッドロボットメタグリッパ：格子配向を変化させたオーセティック構造の解析
Hybrid Robotic Meta-gripper for Tomato Harvesting: Analysis of Auxetic Structures with Lattice Orientation Variations
剛体フレームと軟質オーセティック格子を組み合わせた6本指グリッパを開発し、格子の配向角度が把持性能に与える影響を実験とFEAで解析した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Shahid Ansari, Vivek Gupta, Bishakh Bhattacharya
分類: cs.RO
原文アブストラクト
The agricultural sector is rapidly evolving to meet growing global food demands, yet tasks like fruit and vegetable handling remain labor-intensive, causing inefficiencies and post-harvest losses. Automation, particularly selective harvesting, offers a viable solution, with soft robotics emerging as a key enabler. This study introduces a novel hybrid gripper for tomato harvesting, incorporating a rigid outer frame with a soft auxetic internal lattice. The six-finger, 3D caging-effect design enables gentle yet secure grasping in unstructured environments. Uniquely, the work investigates the effect of auxetic lattice orientation on grasping conformability, combining experimental validation with 2D Digital Image Correlation (DIC) and nonlinear finite element analysis (FEA). Auxetic configurations with unit cell inclinations of 0 deg, 30 deg, 45 deg, and 60 deg are evaluated, and their grasping forces, deformation responses, and motor torque requirements are systematically compared. Results demonstrate that lattice orientation strongly influences compliance, contact forces, and energy efficiency, with distinct advantages across configurations. This comparative framework highlights the novelty of tailoring auxetic geometries to optimize robotic gripper performance. The findings provide new insights into soft-rigid hybrid gripper design, advancing automation strategies for precision agriculture while minimizing crop damage.
関連論文
- ベリーツイスト：ブラックベリー収穫のためのねじりチューブ型ソフトロボットグリッパソフトロボティクス/農業ロボット
- 腱駆動ソフトグリッパによるベリー収穫ソフトロボティクス/農業ロボット
