Desarrollo de un Gripper adaptativo de accionamiento neumático basado en robótica suave para manipulación adecuada de manzanas Granny Smith de la especie Malus doméstica

Abstract

This project focuses on creating an adaptive pneumatic soft gripper, which utilizes soft robotics principles, to effectively handle Granny Smith apples. These new types of actuators are an alternative to traditional rigid grippers, offering a safer solution for handling irregularly shaped fruits and objects, as they are flexible and adapt to their shape. To develop this project, a methodology was used that included the selection of elastic materials specifically for soft robotics. The structural components were designed using computer-aided design (CAD) software, and detailed simulations were performed in SolidWorks. Subsequently, molds were manufactured in Vytaflex rubber, and prototypes were built using photopolymer resin and flexible silicones. Finally, the gripper was integrated into a KUKA KR 4 R600 robotic arm and a pneumatic drive system. Finally, experimental tests were conducted with apples, mandarins, and oranges, evaluating the gripping capacity and pressure applied to different target fruits in order to explore the versatility of the proposed solution. The results demonstrated that the prototype achieves repeatable and safe handling, with high effectiveness at moderate speeds, without causing visible damage to the fruit surface. Successful integration with the robotic arm confirms the system’s potential for application in automated handling and packaging processes in the food industry.