Granted Patent
B2
US 12,269,158 · App. 17/525,416 · Granted Apr 8, 2025
Soft robotic gripper for berry harvesting
Inventors:
Yue Chen (Fayetteville, AR); Anthony L. Gunderman (Fayetteville, AR); Jeremy A. Collins (Fayetteville, AR)
B25J15/12A01D46/253A01D46/30B25J9/1075B25J9/162B25J13/085B25J15/103B25J19/0075G05D1/0212B25J5/00B25J9/1664B25J13/08
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Abstract
A berry harvesting berries system including a mobile platform and a tendon-driven gripper having fingers made of a compliant material, which prevents unwanted damage to the berries.
Claims (4)
1. A system for harvesting berries comprising a tendon-driven gripper, attached to an arm, having fingers made of a compliant material which prevents unwanted damage to the berries; said gripper includes an internal backbone made of an elastic material; a mobile platform that moves either by tread, or by wheels, down the rows of blackberry; and said platform adapted to stop along its path and harvest berries by adjusting said gripper arm angle, gripper height, gripper reach, and the horizontal position of said gripper through linear actuators attached with respect to thesaid mobile platform.
2. The system of claim 1 further including solar panels for charging said mobile platform.
3. The system of claim 1 further including a docking station for charging said mobile platform.
4. The system of claim 1 further including cameras adapted to identify and locate berries with respect to said platform, permitting said gripper to be placed accurately with respect to a berry.
Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Nov 16, 2021
From: CHEN, YUE; GUNDERMAN, ANTHONY L.; COLLINS, JEREMY A.
To: BOARD OF TRUSTEES OF THE UNIVERSITY OF ARKANSAS
Reel/Frame 058124/0813 →
Continuity (3)
Provisional Application
63155075
· Mar 1, 2021
Provisional Application
63113071
· Nov 12, 2020
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