Dual-arm robotic system with hydraulically-driven soft hand for transportation of large cabbages
<p>The labor shortage in the food processing industry, particularly in vegetable factories, is a significant issue that necessitates robotic automation as a solution. This study presents the development of a dual-arm robotic system equipped with a hydraulically driven soft robotic hand designe...
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2025
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| Summary: | <p>The labor shortage in the food processing industry, particularly in vegetable factories, is a significant issue that necessitates robotic automation as a solution. This study presents the development of a dual-arm robotic system equipped with a hydraulically driven soft robotic hand designed to transport large cabbages weighing 1.5–2.5 kg, in a vegetable factory. The soft hand is well-suited for handling large cabbages of varying sizes and shapes and for grasping and extracting individual cabbages from densely packed containers. Additionally, we developed an automation system that uses image recognition to select a cabbage and determine the appropriate hand posture. This paper reports experimental validations of the developed system in both a laboratory environment and an actual vegetable factory. In the laboratory, the system successfully transported 153 cabbages from a container. This paper also summarizes the lessons learned from these experimental validations.</p> |
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