This paper describes the design of a small-scale three degree-of-freedom compliant-mechanism-based manipulator with an approximately 2 cm×2 cm×2 cm cubic workspace. The manipulator exhibits a significantly larger range of motion and better spatial structural properties than a conventional compliant mechanism, due primarily to a unique flexure joint developed by the authors. A brief description of the mechanics of the flexure joint is followed by a description of the design of the manipulator. Following the mechanical description, the design of the low-level manipulator controller is discussed. Finally, data is presented that demonstrates manipulator performance.

This paper approaches the design problem of suitable grippers for a robotic arm to pick up horticulture products. General considerations have been pointed out and main concepts and mechanical designs have been discussed and proposed by sketches and drawings for an easy understanding of “on-field” problems and feasible solutions. Pneumatic actuation has been proposed with suitable grasp force control by using commercial components. Specific attention has been focused on tomato horticulture for a practical design and prototyping of a device for laboratory experiments.