In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

Abstract
1. 서 론
2. 그리퍼 설계 개선 및 평가
    2.1 그리퍼 설계
    2.2 손가락 위치 개선
    2.3 링크부 설계 개선
3. 그리퍼 제작 및 검증
4. 결 론
References

• 최두순(Korea National University of Transportation, Chungju) | Du Soon Choi
• 문선영(Korea National University of Transportation, Chungju) | Sun Young Moon
• 황면중(Mechanical Engineering, Korea National University of Transportation, Chungju) | Myun Joong Hwang Corresponding author