Project
Sequential Gripper-Cutter
A dual-function end-effector for the Kinova Jaco arm on the Eagle robot: a single-motor mutilated-gear linkage that sequences compliant gripping and high-force cutting in one stroke. The weight budget of an aerial platform ruled out separate gripper and cutter actuators.
Sequential Linkage Mechanism
A custom mutilated-gear architecture splits a single actuator stroke into two phases. Phase 1 (0–60%) provides compliant gripping for delicate produce like grapes and cherry tomatoes. Phase 2 (60–100%) engages high-force cutting for stem separation. The mechanism weighs a fraction of what separate gripping and cutting actuators would.
Aerial Integration
The gripper-cutter integrates with the Kinova Jaco arm on the Eagle cable-driven platform. Its low total mass preserved the aerial platform's payload budget for battery, solar panel, and the arm itself, making airborne selective harvesting feasible under weight constraints that ruled out conventional two-actuator end-effectors.
2 DOF
Sequential Functions
1 motor
Single Actuator
Kinova Jaco
Target Arm
Challenges
- Two very different force profiles, gentle gripping and aggressive cutting, had to come from one actuator, one motor, and one stroke.
- The gripping phase had to be compliant enough not to bruise fruit; the cutting phase had to produce enough force to cleanly sever woody stems.
Outcomes
- Proved the mutilated-gear sequential linkage concept: both functions in a single lightweight mechanism, validated by FEA for structural integrity and repeatability.
- Mechanism design applicable to other weight-constrained manipulation tasks beyond agricultural harvesting.