End-Effectors Developed for Citrus and Other Spherical Crops

Citrus harvesting is time-intensive and labor-intensive, relying mainly on manual harvesting. The automatic of fruit vegetable crops can not only reduce the physical labor farmers in harsh field environment but also greatly improve efficiency. Based principle citrus picking, an end-effector with three-finger grasping designed this study. First, structure was to achieve function stable effective cutting fruits, then working process key parameters were explained detail. Finally, a picking test conducted without considering robot vision. results show that has success rate 95.23% for diameter 30–100 mm average time 4.65 s single fruit. This realize different sizes shapes advantages high adaptability, gripping no damage