Artificial Intelligence Review
Integrated gripper and cutter in a mobile robotic system for harvesting greenhouse products
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Computer Standards & Interfaces
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Two types of robotic end-effectors capable ofharvesting tomato fruits were manufactured based onthe physical properties of tomato plant and tested. The first prototype end-effector consisted of twoparallel plate fingers and a suction pad. The fingerspick a fruit off at the joint of its peduncle afterthe suction cup singulates it by vacuum from otherfruits in the same cluster. From the results ofharvesting experiment, the end-effector could notharvest fruits with a short peduncle because thefruits were detached from the suction pad before theywere gripped by the fingers. Therefore, the secondprototype in which the functions to detect the fruitposition and the air pressure in the pad wereinstalled, was made, so that the fruits were harvestedregardless of the length of their peduncle. Experimental results using the improved end-effectorshowed that the fruits were harvested successfullywith no damage.