An Intelligent Robotic System for Handling and Laser Marking Fruits

  • Chih-Hsing LiuEmail author
  • Ta-Lun Chen
  • Tzu-Yang Pai
  • Chen-Hua Chiu
  • Wei-Geng Peng
  • Chia-Chun Weng


This paper presents an innovative and intelligent robotic system for handling and laser marking fruits. The laser marks on fruit skin are expected to replace the widely used fruit stickers which can provide specific information for fruit products. From a sustainability perspective, the proposed system can reduce significant amount of stickers being used on produce as well as to avoid the possible falling off problem for stickers. The developed system consists of a compliant gripper, a robotic arm, a machine vision module, a laser marking unit, a conveyor, and a robot controller. The compliant gripper is used to pick and place a variety of objects with shape and size variations without causing surface damage to the grasped products. The robotic arm can be guided using the machine vision module. The laser marking unit is used to permanently create marks on fruit skin. The robotic arm, soft robotic gripper, machine vision module, and laser marking unit are communicated with each other via the robot controller. The prototype system is implemented, and experimental results are provided in this study. The proposed innovative robotic system is an environmentally friendly design which can minimize the usage of printed sticky labels on produce.


Robot Grasping Gripper Laser mark Topology optimization Compliant mechanism 



This work is supported by the grant, MOST 106-2218-E-006-017, from the Ministry of Science and Technology of Taiwan.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Chih-Hsing Liu
    • 1
    Email author
  • Ta-Lun Chen
    • 1
  • Tzu-Yang Pai
    • 1
  • Chen-Hua Chiu
    • 1
  • Wei-Geng Peng
    • 1
  • Chia-Chun Weng
    • 1
  1. 1.Department of Mechanical EngineeringNational Cheng Kung UniversityTainanTaiwan

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