Physical Properties of Black Pepper for designing a Robotic Black Pepper Harvester

Agricultural robots were designed based on the characteristics of target crop. In this study, two varieties black pepper including Kaimunda and Panniyur 1 evaluated for physical parameters to design a robotic harvester. The main objective study was measure analyze properties regard, studies conducted spike, peduncle, berry, vine separately. results showed that average length diameter spikes Karimunda respectively as 10.4 cm 1.10 cm; 12.8 1.30 cm. an tested peppers have berry 0.42 RGB value (20, 39, 3) - (255, 224, 111) variety 0.59 (35, 54, 10) 240, 100) variety. Based shear strength analysis, at cutting speed 0.1 mm s -1, peduncle obtained 1718.6 N mm-2 1671 -2 1. And s-1, is 1535 1544 mm-2. 1.2 1.3 cm, both 0.17 maximum leaf coverage ranges from 10 91, 95th percentile data 76