Ronzhin, A. and Ngo, T. and Vu, Q. and Nguyen, V. (2022) Results of Modeling and Optimization of the Robotic Gripper Configuration. In: Intelligent Systems Reference Library. Springer Science and Business Media Deutschland GmbH, pp. 153-175.
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The structure of the developed software system AgroGripModeling, which provides modeling and multicriteria optimization of the robotic gripper configuration, is described. The configuration of the developed robotic gripper for picking tomatoes, which consists of a four-fingered mechatronic system, a vacuum suction nozzle and differs from existing analogues by using a linear actuator to move the vacuum nozzle simultaneously with the movements of the four-fingered mechanism, is described. The results of modeling and optimization of the configuration of a robotic gripper using a posteriori algorithms MOGWO, NSGA-II, MOPSO are presented. A generalized algorithm for controlling the cycle of operation of software and hardware modules for robotic gripping when removing a fetus is presented. The results of testing a robotic gripper with a vacuum bellows for picking tomatoes are discussed. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
| Item Type: | Book Section |
|---|---|
| Divisions: | Offices > Office of International Cooperation Faculties > Faculty of Mechanical Engineering |
| Identification Number: | 10.1007/978-3-030-86826-0_8 |
| Additional Information: | Language of original document: English. |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/8552 |
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