Academy of Interdisciplinary Studies Division of Integrative Systems and Design 252 Mechanically Intelligent Gripper for Fruit Pickup Supervisor: Rob SCHARFF / ISD Student: LI Jiayun / ISD Course: UROP 1100, Spring This report is going to present a mechanically intelligent gripper designed for fruit pickup. This lack of Degrees of Freedom (DoF) mechanism design of gripper implements capabilities of passive object retention, passive object retention and adaptive to objects, such as fruits and vegetables. Passive adaptive prehension is achieved through a combination of a compliant mechanism with two Fin Ray gripper fingers that enclose an object when the gripper is pushed onto it. The object is held firmly in place during transport by a linear ratchet structure which is able to lock the compliant mechanism in place. With basically established manufacturing in 3D printing and underactuated design, the design offers a passive adaptive grasping end effector gripper, which is cost-effective and environmentally friendly, provide a promising future for robot end-effector development. Mechanically Intelligent Gripper for Fruit Pickup Supervisor: Rob SCHARFF / ISD Student: WU Ziyao / ISD Course: UROP 1100, Spring A key challenge for dexterous robotic manipulation is creating end effectors that adaptively grasp objects of varied shapes and sizes. Rigid grippers typically require large numbers of actuators and sensors to realize such adaptive behavior. We introduce a mechanically intelligent gripper that achieves passive, adaptive prehension, retention, and release without electronics or onboard power. Two compliant Fin Ray fingers automatically wrap around an object when the device is simply pressed against it, while a linear ratchet locks the fingers for secure transport. To release, an asymmetric ratchet disengages via gravity when the wrist is rotated to a designated orientation. The gripper’s actuator-free, untethered design promises high robustness, minimal energy use, and suitability for dusty or wet, extreme environments.
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