A new type of end-effector was developed based on flexible pneumatic actuator (FPA), which was designed as a bending joint. The mathematical model of bending joints and end-effector was established with mechanical analysis method, the relationship between pressure and bending capacity, as well as the relationship between pressure and output bending force was analyzed. The mathematical model for end-effector of crawling apple was built. The experimental results show that the force of the end-effector is quite strong and the actuator can grasp apples perfectly and flexibly.
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杨庆华,金寅德,钱少明,鲍官军.基于气动柔性驱动器的苹果采摘末端执行器研[J].农业机械学报,2010,41(9):154-158. on End-effector of Apple Picking Based on New Flexible Pneumatic Actuator[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(9):154-158.