Work

Investigating the Impact of Picking Modes on the Picking Process of Peach (Prunus persica) Using Experimental and Simulation Analysis

Year: 2026

Type: article

Abstract: To explore robotic peach picking in different modes, this study examined the effects of various peach picking modes on harvesting force and time. A finite element model of peach harvesting structure was established, and harvesting experiment parameters were based on the Box–Behnken design. Harvesting was simulated to collect response time and force data. Subsequently, the optimal harvesting rate under different picking modes was determined. Different picking modes were tested by simulating identical fruit harvesting in the laboratory at the optimal harvesting speed to determine the peak harvesting force and duration. The Bend mode had the lowest picking pressure and the shortest average picking time at 0.7 MPa and 4.2 s, respectively. The Pull and Twist modes had similar pressures and picking times at 1.2 and 1.1 MPa and 5.2 and 5.6 s, respectively. Harvesting in the orchard allowed for harvesting force and duration measurement under different picking modes. The differences in picking pressure and time among the three picking modes increased compared with those of simulated picking, with specific patterns being observed. Picking pressure appeared at P1max, and differences in picking time were prevalent during separation. This study offers valuable insights for future improvements in harvesting modes and efficiency enhancement.

Source: Agriculture

DOI: 10.3390/agriculture16090979

Authors: Yufei Lin, Jie Wang, Li Tian, Hao Liang, Xiaping Fu, Chuanyu Wu

Institutions: Zhejiang Sci-Tech University, Zhejiang A & F University, Zhejiang Ocean University

Language: English

Topic: Agricultural Engineering and Mechanization

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Zero hunger

Open Access status: gold

Estimated APC paid: $3,137