Development and Characterization of an Adaptive Baromorphic End-Effector for Precision Agricultural Handling

Abstract

Agricultural harvesting requires careful handling of delicate crops, a challenge often unmet by traditional machinery. To address this need, this paper presents an intelligent baromorphic end-effector that marks a significant innovation in agricultural technology. This novel architecture integrates sensing elements that enable the system to dynamically adjust to different crop shapes and textures, ensuring a gentle touch that minimizes damage.The design and testing of the end-effector, which utilizes flexible materials and embedded air channel and embedded sensor to effectively modulate grip adaptability are presented. The manufacturing approach focuses on using advanced techniques to ensure the end-effector’s durability and scalability. The embedded sensor provided real-time data feedback, allowing constant adjustments that enhance both safety and efficiency during the harvesting process. Through extensive simulation and experimental testing, the system has demonstrated its features.