Design an apple-picking robot based on recognition of YOLOv5

This article takes apples as an example to establish the stable grasping parameters of the flexible grasping hand picker. The number and distribution of fingers are meticulously planned, and the driving technology of common flexible robots is compared to propose the grasping method of the picker's fingers. In addition, advanced finite element methods are used to build a comprehensive mechanical model of the flexible fingers, and the SW finite element software is used. The gripper designed based on the soft actuator has enhanced grasp tolerance and flexibility, reducing the strict requirements on grasping force and positioning accuracy, thereby improving work efficiency.