A sensorized soft-pad-integrated compliant gripper for safe handling of agricultural produce

Abstract The agricultural industry is undergoing a transformative shift as it seeks innovative solutions to meet the growing demands of modern, industrial-scale operations. Robotics is emerging as a key enabler, offering efficient and precise alternatives to traditional manual labor. While various soft and rigid grippers have been developed to this end, most rely either on complex control strategies or on oversimplified structures that fail to balance workspace, stress distribution, and manufacturability. To address this challenge, this paper presents the design, fabrication, and experimental validation of a sensorized, soft-pad-integrated compliant gripper for damage-free handling of agricultural produce. The gripper employs a compliant structure with differentiated soft pads to enhance grasp stability and contact friction. A novel methodology is introduced that integrates computer-aided engineering (CAE) tools with MATLAB for advanced analysis and genetic algorithm optimization of the compliant structure. COMSOL Multiphysics simulations further analyze the role of differentiated soft pads in distributing contact forces and resisting slippage. The gripper was fabricated using nylon for the compliant fingers, polylactide (PLA) for structural components, and Dragon Skin 30A silicone for the soft pads. Force-sensitive resistor (FSR) sensors were integrated to provide tactile feedback and regulate contact forces for safe handling. Experimental tests demonstrated that the gripper can robustly grasp a variety of produce—including lemons, zucchini, potatoes, cherry tomatoes, carrots, and onions—without causing damage.