Development of a Robotic Harvesting Mechanism for Button Mushrooms

Highlights A robotic mushroom picking mechanism was developed, including positioning, picking, and stipe trimming. The end-effector designed based on a bending motion around the stipe-substrate joint. overall success rate of developed reached 91.4%. Acting time air pressure for suction cup were studied in bruise level tests. Abstract . Button (Agaricus bisporus) harvesting mainly relies costly manpower, which is time-consuming labor-intensive. Robotic an alternative method to address this challenge. In study, designed, motion, four degree-of-freedom (DoF) positioning moving end-effector, trimming electro-pneumatic control system. laboratory-scale prototype fabricated validate performance mechanism. Bruise tests caps also conducted analyze influence acting level. test results showed that successfully positioned target locations. 90% at first pick increased 94.2% after second pick. main reason failures inclined growing condition those mushrooms, resulting difficulties engaging cap with facing straight downward. achieved 97% overall. indicated factor affecting level, compared time, optimized may help alleviate damage. laboratory has potential be implemented automatic harvesting. Keywords: test, End-effector, Mushroom,