Hierarchical classification of robotic grippers applied for agricultural object manipulations

¹ SUAI, Department of Electromechanics and Robotics, 190000, Saint-Petersburg, Bolshaya Morskaya Str., 67, Russia
² SPIIRAS, Laboratory of Autonomous Robotic Systems, 199178, Saint-Petersburg, 14-th line of V.I., 39, Russia

^* Corresponding author: vuquyenntk@gmail.com

Abstract

An overview of agricultural grippers used to control weeds and harvesting is presented. The classification of the grippers, which are installed on robotic agricultural tools for manipulation of fruits, weeds and other objects, is compiled. There are 22 types of grippers depending on 6 selected criteria: drive type, the presence of the drive in the grip, the number of fingers, the type of gripper movement, the type of mechanism, the type of sensors. In this classification, we mainly consider the characteristics of the gripper, which is installed at the end of the manipulator and is responsible for physical contact with the object. Therefore, the main attention is paid to problems requiring direct capture of objects by the agrobots. The issue of joint interaction of a group of heterogeneous terrestrial and airborne robots in the performance of the target agrarian task in an autonomous mission will also be investigated.