title: 3D-printed robotic gripper fingers with lattice structures for kiwifruit harvesting

authors: Dhanotra, Karan

abstract: With the growing demand for agricultural automation due to labour shortages and rising costs,
the robotics industry must develop effective and sustainable solutions. Soft robotics has
emerged as a transformative approach, offering flexibility and safety for handling delicate
objects. Advancements in 3D printing technology further enable innovative gripper designs
tailored for specific applications. This research focuses on developing 3D-printed soft robotic
gripper fingers for kiwifruit harvesting, aiming to overcome challenges such as fruit damage,
slippage, and inefficiencies in automated processes.
The study investigates enhancing the coefficient of friction through textured surfaces and
optimising bulk stiffness using lattice structures with varying wall thicknesses to maximise
contact area and grip stability. Using 3D printing, multiple testing samples were designed with
various textured surfaces and advanced lattice configurations, including gyroid, honeycomb,
and Schwarz primitive structures, to improve grasping performance while optimising stiffness.
Experimental results revealed that textured surfaces increased the coefficient of friction by 8–
10%, while gyroid infill patterns nearly doubled the contact surface area compared to rigid
designs, significantly improving grip stability and reducing pressure on the fruit. Rubber was
identified as the most effective material for soft gripper fingers, offering a high coefficient of
friction, flexibility, and the ability to conform to the irregular shapes of kiwifruit. Conversely,
silicone and nylon were less effective, with silicone providing inadequate friction and nylon
exhibiting rigidity that risked fruit damage. Among the tested lattice structures, gyroid patterns
demonstrated superior mechanical properties, outperforming other designs that exhibited
failure modes, such as buckling under compressive loads.
Overall, this research highlights the potential of 3D-printed soft robotic gripper fingers in
horticultural automation by integrating advanced materials, textures, and lattice structures to
improve performance. The findings provide critical insights into design principles for
developing durable, adaptable, and effective grippers for delicate agricultural applications.
While the results are promising, further research is required to address challenges such as
scalability, extensive field testing, and seamless integration with automated harvesting
systems.

text: 3D-printed robotic gripper fingers with lattice structures for kiwifruit harvesting With the growing demand for agricultural automation due to labour shortages and rising costs,
the robotics industry must develop effective and sustainable solutions. Soft robotics has
emerged as a transformative approach, offering flexibility and safety for handling delicate
objects. Advancements in 3D printing technology further enable innovative gripper designs
tailored for specific applications. This research focuses on developing 3D-printed soft robotic
gripper fingers for kiwifruit harvesting, aiming to overcome challenges such as fruit damage,
slippage, and inefficiencies in automated processes.
The study investigates enhancing the coefficient of friction through textured surfaces and
optimising bulk stiffness using lattice structures with varying wall thicknesses to maximise
contact area and grip stability. Using 3D printing, multiple testing samples were designed with
various textured surfaces and advanced lattice configurations, including gyroid, honeycomb,
and Schwarz primitive structures, to improve grasping performance while optimising stiffness.
Experimental results revealed that textured surfaces increased the coefficient of friction by 8–
10%, while gyroid infill patterns nearly doubled the contact surface area compared to rigid
designs, significantly improving grip stability and reducing pressure on the fruit. Rubber was
identified as the most effective material for soft gripper fingers, offering a high coefficient of
friction, flexibility, and the ability to conform to the irregular shapes of kiwifruit. Conversely,
silicone and nylon were less effective, with silicone providing inadequate friction and nylon
exhibiting rigidity that risked fruit damage. Among the tested lattice structures, gyroid patterns
demonstrated superior mechanical properties, outperforming other designs that exhibited
failure modes, such as buckling under compressive loads.
Overall, this research highlights the potential of 3D-printed soft robotic gripper fingers in
horticultural automation by integrating advanced materials, textures, and lattice structures to
improve performance. The findings provide critical insights into design principles for
developing durable, adaptable, and effective grippers for delicate agricultural applications.
While the results are promising, further research is required to address challenges such as
scalability, extensive field testing, and seamless integration with automated harvesting
systems.

year: 2024

title: Work placement reports: Student perceptions

authors: Lay, Mark C.

subjects: engineering

abstract: Engineering students complete work placement reports after being on placement in industry, the aim is to increase work place learning and to increase students understanding about the placement, themselves, career direction and skills obtained. Third and fourth year engineering students perceptions on their report writing experience, academic feedback quality, and the effect of completing work placement reports on their learning and report writing ability, were surveyed. Third year students enjoyed the experience more than fourth year students and perceived greater benefits. Fourth year student opinion was mixed, reflecting greater experience and cynicism. Fourth year students rated feedback from academics higher than the third years, perhaps because their reports were more interesting for the academics. The fourth year students were more cynical on the benefits of reflecting and reviewing what they had learned, and many considered this was not important for being an engineer.

text: Work placement reports: Student perceptions Engineering students complete work placement reports after being on placement in industry, the aim is to increase work place learning and to increase students understanding about the placement, themselves, career direction and skills obtained. Third and fourth year engineering students perceptions on their report writing experience, academic feedback quality, and the effect of completing work placement reports on their learning and report writing ability, were surveyed. Third year students enjoyed the experience more than fourth year students and perceived greater benefits. Fourth year student opinion was mixed, reflecting greater experience and cynicism. Fourth year students rated feedback from academics higher than the third years, perhaps because their reports were more interesting for the academics. The fourth year students were more cynical on the benefits of reflecting and reviewing what they had learned, and many considered this was not important for being an engineer.

year: 2008

title: Te Tarata

authors: Maxwell, Te Kahautu

abstract: This composition placed second in the Haka Composition Section. Te Tarata this composition commemorates the battle of Te Tarata in Te Whakatōhea 15 October 1865. This was the aftermath of the killing of the missionary Rev Carl Sylvius Volkner on the 2 March 1865. At the battle of Te Tarata it is recorded as the only calvary charge in the New Zealand Land Wars. Te Whakatōhea ingeniously wove around the palisade walls tī kouka (Cordyline australis) or cabbage tree. When the canon ball hit the palisades the tī kouka absorbed the force of the canon ball and rebounded the ball. 20 Te Whakatohea were killed and a number of others were wounded. This composition was performed by Ōpōtiki Mai Tawhiti at the Te Matatini World Championship Kapa Haka Competition 2015.

text: Te Tarata This composition placed second in the Haka Composition Section. Te Tarata this composition commemorates the battle of Te Tarata in Te Whakatōhea 15 October 1865. This was the aftermath of the killing of the missionary Rev Carl Sylvius Volkner on the 2 March 1865. At the battle of Te Tarata it is recorded as the only calvary charge in the New Zealand Land Wars. Te Whakatōhea ingeniously wove around the palisade walls tī kouka (Cordyline australis) or cabbage tree. When the canon ball hit the palisades the tī kouka absorbed the force of the canon ball and rebounded the ball. 20 Te Whakatohea were killed and a number of others were wounded. This composition was performed by Ōpōtiki Mai Tawhiti at the Te Matatini World Championship Kapa Haka Competition 2015.

year: 2014-10-10