Joseph Ryan Davidson,Changki Mo,Qin Zhang,Abhisesh Silwal,Manoj Karkee
申请号：
US14849729
公开号：
US09554512B2
申请日:
2015.09.10
申请国别(地区):
US
年份:
2017
代理人:
摘要：
Robotic systems and specialized end-effectors provide for automated harvesting of produce such as fresh market apples. An underactuated design using tendons and flexure joints with passive compliance increases robustness to position error, overcoming a significant limitation of previous fruit harvesting end-effectors. Some devices use open-loop control, provide a shape-adaptive grasp, and produce contact forces similar to those used during optimal hand picking patterns. Other benefits include relatively low weight, low cost, and simplicity.
