Development of Continuum Robot Arm and Gripper for Harvesting Cherry Tomatoes

Smart farming technology is becoming of the actual topics in modern world technology. Contemporary expands robot applications by using AI for recognition variable patterns. Moreover, agriculture field demands a safety robot, due to fragile surrounded confined space and it must be adaptable extremely constrained working environments. Therefore, this research paper presents novel tomato harvesting arm based on continuum structure. The proposed flexible backbone structure provides efficient work workspace. This consists three parts: first part contains design newly designed gripper tool. second describes machine learning detecting matured tomatoes distance measuring technique with single camera. third explains kinematics control algorithms. final experimental results. As result conducted experiment, speed was 56 s tomato. Meanwhile, accuracy 96 percent.