Design of flexible picking dexterous hand for ellipsoidal fruits and vegetables

In order to improve the operational versatility of today′s picking dexterous hand and reduce the phenomenon of picking damage during the picking process, an ellipsoidal type pneumatic flexible picking dexterous hand for fruits and vegetables was designed. Firstly, the drawing of the gripper was drawn, and then the finite element analysis of the finger part was carried out to compare the relationship between the finger size and the fingertip thrust, and to analyze whether the finger size can meet the general operation requirements. The program design, hardware selection and circuit design were carried out for the dexterous hand, and the control program was developed. The prototype of pneumatic picking hand was made and tested, the total weight of the hand was 1 kg, the finger opening time was 2 s and the jaw closing time was 3 s under 40 kPa air pressure input. Picking experiments were carried out on the experimental platform, which could pick three kinds of ellipsoidal fruits and vegetables, the picking success rate was over 92. 5% and the picking damage rate was less than 7. 5%, which verified the versatility of the dexterous hand and its characteristics of high success rate and low damage.