A soft grip design using Finite Element Analysis for mango handling on the KUKA KR3 robot

Abstract

This article proposes the design of a gripper that allows a soft grip through finite element analysis (FEA) for the manipulation of the Kent mango implemented in the KUKA KR3 AGILUS robotic arm. According to INEI, there was a 59.6% growth in mango production between 2018 and 2019 [1]. In this way, it was proposed to increase the efficiency in handling the mango during the classification processes in large quantities. Therefore, as the main objective, it is considered that, through an automated system during the post-harvest mango classification process, it is possible to raise production efficiency levels through continuous classification. Yonua by caliber and a pneumatic system adaptable to the geometric body of each mango. The ergonomics of this system is what makes it attractive, since the gripper to be used was designed and developed to perfectly fit the geometry of the Kent mango. For gripper actuation, that is, for each soft pneumatic actuator, it is necessary to evaluate the levels of necessary pressure that enter its channels. This in order to be able to support the weight of the mango when it is lifted from its conveyor belt. This evaluation will be influenced by simulation in the Abaqus-CAE software in a non-linearity study.