Design of an adaptive soft gripper with vacuum suction cups for handling fruits with fragile exocarp: Passiflora ligularis

Rubinos L.A.D.; Zavaleta C.A.D.; Rivas J.R.R.; Felipe J.L.B.; Vilcarromero J.J.F. · International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2025 (2025) · DOI: 10.1109/iceccme64568.2025.11277866

Resumen

Handling agricultural products in automated processes requires systems that prevent fruit damage and optimize operational efficiency. In the case of passion fruit (Passiflora ligularis), excessive application of vacuum pressure can cause marks or alterations to its surface. This research proposes the design of a customized adaptive suction cup, specifically tailored to the physical characteristics of passion fruit. By optimizing its geometry and incorporating the vortex effect principle, the aim is to reduce energy consumption by lowering the required vacuum pressure and improve stability during handling. The study includes analytical development complemented by Computational Fluid Dynamics (CFD) simulations, with the aim of evaluating the performance of the proposed design compared to conventional suction cups. This work seeks to contribute to the development of sustainable and efficient solutions for the postharvest handling of agricultural products, using Passiflora ligularis as a case study.

Instituciones: Universidad Peruana de Ciencias Aplicadas