A Non-Energized Robotic Hand with Locking Mechanism for Handling Heavy Agricultural Products

Abstract

In this paper, we proposed a robotic hand equipped with self-locking mechanism for handling heavy agricultural products such as radishes in order to improve the situation of labor shortage at fruit-sorting facilities due to the declining birthrate and aging population. The proposed robotic hand does not require active actuation,such as motor or air compressor，by taking the advantage of the locking mechanism．The locking mechanism is incorporated into the joints of the hand，and the hand opens and closes by contact with the environment We conducted experiments on handling heavy vegetables such as radishes and other heavy objects,and compared the performances of the hand with and without the restraint mechanism．