Soft Pneumatic Bellows-type Actuator for Automatic Stem Cutting of Sweet Pepper

Abstract

The task of cutting sweet pepper stems using a robotic harvester poses a significant challenge within the domain of agricultural automation. Previously, rigid robotic systems have predominantly controlled the cutting procedure in the context of robotic harvesting. Nevertheless, using soft robotic technology to cut sweet pepper stems remains relatively uncommon. This research endeavor focuses on the development and implementation of a soft pneumatic bellows-type actuator designed specifically for the task of stem cutting during sweet pepper harvesting. The bellows actuator is constructed from elastomer materials and is integrated into a cutting assembly equipped with a blade and a fixed plate. The cutting action of this assembly is employed through the controlled inflation of the soft pneumatic bellows actuator, which operates under the influence of compressed air. Before its practical application, the performance of the bellows actuator is assessed and optimized using ANSYS simulation software. Subsequently, the fabricated actuator is evaluated by conducting experiments involving sweet peppers with varying stem diameters. The empirical findings from these experiments emphasize the promising capabilities of the proposed actuator.