鲍秀兰¹，任梦涛¹，马萧杰¹，陈碧宇¹，包有刚¹，毛金城^2*

(1. 华中农业大学工学院，武汉430070，中国；

2. 武汉工程大学机电工程学院，武汉432200，中国)

摘要：数字果园是未来果园智能化发展的重要趋势。当前果园抓取对象种类繁多，尺寸和材质特性各异，给抓取作业带来挑战。为提升果园末端执行器的通用性与灵巧性，该研究针对农艺操作设计了一款类人14自由度果园灵巧手。

提出结合果园手势分析与人手结构的果园灵巧手优化设计方案，完成模块化手指、手掌及整体结构设计。建立灵巧手正逆运动学模型分析指尖运动空间，结合Kapandji测试验证果园灵巧手的灵巧性。依据赫兹理论求解接触力等效分布模型，基于摩擦面接触模型建立抓取矩阵以实现力封闭，描述抓取构型下手指与被抓物体的关系。搭建果园灵巧手实验平台，开展手势形成、抓取及接触力测试实验。

结果表明，该灵巧手可形成果园常用各类手势，能抓取直径26~90 mm、质量11~238 g的球形果实及各类果园专用作业工具；对于质量234 g的脐橙，在不同手势下均可实现稳定抓取。该研究结果可为果园复杂农艺作业的实现提供理论依据与技术支撑。

关键词：数字果园；灵巧手；果园手势；力封闭

DOI: 10.25165/j.ijabe.20251804.8925

引用信息: Bao X L, Ren M T, Ma X J, Chen B Y, Bao Y G, Mao J C. Force-closure orchard dexterous hand grasping model. IntJ Agric & Biol Eng, 2025; 18(4): 139–148.

点击阅读全文：Force-closure orchard dexterous hand grasping model

Force-closure orchard dexterous hand grasping model

Xiulan Bao¹, Mengtao Ren¹, Xiaojie Ma¹, Biyu Chen¹, Yougang Bao¹, Jincheng Mao^2*

(1. College of Engineering, Huazhong Agricultural University, Wuhan 430070, China;

2. School of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan 432200, China)

Abstract: The digital orchard is an important trend for the future development of orchards towards intelligentization. The current wide variety of orchard gripping objects with different sizes and material characteristics brings challenges for gripping operations. In order to improve the versatility and dexterity of the orchard end-effector, a humanoid 14-degree-of-freedom orchard dexterous hand is designed for agronomic operations. An optimal design scheme of the orchard dexterous hand combining orchard gesture analysis and human hand structure is proposed, and the design of the modular fingers, palm, and overall structure of the orchard dexterous hand is completed. The orthogonal and inverse kinematics model of the dexterous hand is established to analyze the motion space of the fingertips, and the dexterity of the orchard dexterous hand is verified by combining with the Kapandji test. The equivalent distribution model of the contact force is solved according to the Hertz theory, and the grasping matrix is established based on the friction surface contact model to realize force-closure, which describes the relationship between the finger and the object being grasped in the configuration. The experimental platform of dexterous hand in the orchard is built, and the experiments of gesture formation, grasping, and contact force testing are carried out. The results show that the dexterous hand can form all kinds of gestures commonly used in the orchard and can grasp spherical fruit with diameters of 26-90 mm, masses of 11-238 g, and all kinds of orchard-specific working tools; for navel oranges with masses of 234 g, the dexterous hand can realize stable grasping under different gestures. This provides a theoretical basis and technical support for the realization of complex agronomy in orchards.

Keywords: digital orchard, dexterous hand, orchard gesture, force-closure

DOI: 10.25165/j.ijabe.20251804.8925

Citation: Bao X L, Ren M T, Ma X J, Chen B Y, Bao Y G, Mao J C. Force-closure orchard dexterous hand grasping model. IntJ Agric & Biol Eng, 2025; 18(4): 139–148.

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