Research on Force-Sensing Control System of Apple Picking Robotic Hand

Xianqin Huang

doi:10.54254/2753-8818/2025.AD26539

Theoretical and Natural ScienceOpen access

Research on Force-Sensing Control System of Apple Picking Robotic Hand

Research Article

Open Access

Research on Force-Sensing Control System of Apple Picking Robotic Hand

Xianqin Huang ^1*

¹ Zhejiang University of Technology

^*Corresponding author: 15067299317@163.com

Published on 3 September 2025

TNS Vol.134

ISSN (Print): 2753-8826

ISSN (Online): 2753-8818

ISBN (Print): 978-1-80590-343-7

ISBN (Online): 978-1-80590-344-4

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Abstract

This article studies the problems of high labor intensity, low efficiency and high cost in manual fruit picking operations. Taking apples as the research object and utilizing the rapidly developing robot technology and computer technology, a bionic mechanical hand with force feedback was designed for agricultural harvesting applications. This equipment is equipped with an integrated force-sensing control system, aiming to minimize mechanical damage to fruits during the harvesting process as much as possible, while enhancing operational efficiency and reducing labor costs. This paper designs a force-sensing system. Through a series of high-precision sensors, the system can precisely detect and adjust the subtle pressure changes during the apple grasping process. This paper develops a bionic robotic arm model, featuring three core technological innovations. It designs a flexible underactuated finger mechanism with variable stiffness adjustment, which can achieve adaptive envelope grasping of irregularly shaped fruits. Therefore, the modular design of this system will allow for the scalable harvesting of various horticultural crops in the future, providing technical references for the development of smart agricultural equipment.

Keywords:

Apple picking, Algorithm control, Agricultural machinery, PID

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References

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[4]. Zhao Chunguang Design and Optimization of Apple Picking Manipulator [D]. Harbin University of Commerce, 2020.

[5]. Zhang Chenhe A kind of apple picking machine design and research. 2020. Chengdu university, MA thesis. Doi: 10.27917 /, dc nki. Gcxdy. 2020.000083.

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[9]. Yan Zhenghong, Guo Yidan, and Chen Lin." Research on Feature Extraction and Processing of Tactile Information in Picking Robots." Journal of Xinxiang University 39.06(2022): 36-39.

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References

[4]. Zhao Chunguang Design and Optimization of Apple Picking Manipulator [D]. Harbin University of Commerce, 2020.

[5]. Zhang Chenhe A kind of apple picking machine design and research. 2020. Chengdu university, MA thesis. Doi: 10.27917 /, dc nki. Gcxdy. 2020.000083.

[6]. Neville Hogan. Impedance control of industrial robots [J]. Robotics and Computer IntegratedManufacturing, 1984, 33(2): 97-113.

[9]. Yan Zhenghong, Guo Yidan, and Chen Lin." Research on Feature Extraction and Processing of Tactile Information in Picking Robots." Journal of Xinxiang University 39.06(2022): 36-39.

Cite this article

Huang,X. (2025). Research on Force-Sensing Control System of Apple Picking Robotic Hand. Theoretical and Natural Science,134,44-54.

Data availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

About volume

Volume title: Proceedings of CONF-APMM 2025 Symposium: Controlling Robotic Manipulator Using PWM Signals with Microcontrollers

ISBN: 978-1-80590-343-7(Print) / 978-1-80590-344-4(Online)

Editor: Marwan Omar, Mustafa Istanbullu

Conference website: https://2025.confapmm.org/adana.html

Conference date: 19 September 2025

Series: Theoretical and Natural Science

Volume number: Vol.134

ISSN: 2753-8818(Print) / 2753-8826(Online)

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