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

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.