The increasing demand for automatic picking robots of fruits and vegetables drives the study of the end-grabber realizing non-destructive picking. However

most traditional end grips are rigid structures

and the existing flexible grips also have shortcomings such as insufficient grasping force and poor coating. A new type of pneumatic four-blade soft grip was designed to realize the non-destructive picking of strawberry

which used the contour curve of strawberry as the design curve for the first time. Firstly

the structure of the software grip was simulated and optimized

thus an idea of safely attaching to the target surface was put forward. Then

both the minimum failure stress on surface of the strawberry and the end force of the software grip were test

and the feasibility of nondestructive grasping was verified based on these results. Thirdly

the bending deformation law of the soft grip leaf surface was studied using the dynamic capture technology. Finally

the soft gripper with arcs gas channel of strawberry grab was used to test the actual grasping ability. Results showed that the four blade pneumatic gripper soft could realize nondestructive fetching

the success rate was 90%

and the damage rate was 2%. It is proved that the developed four gripper for strawberry scraping blade soft has a good stability and practicability

and can be used to strawberry picking at the end of the actuator. This study can also provide theoretical basis and technical support for the picking technology of other fragile fruits and vegetables.