Optimization Design and Experiment of a Pulling–Cutting–Clamping End-Effector for Hang Pepper Harvesting
Year: 2026
Type: article
Abstract: Existing studies on selective pepper harvesting commonly use the pedicel as the picking target. However, for Hang pepper, dense branches and leaves cause severe fruit stem occlusion, resulting in a low harvesting success rate. To address this limitation, an end-effector that uses the fruit body as the picking target was designed in this study. Physical property tests of Hang pepper were first conducted. In radial compression tests, a post-release deformation of less than 5% was used as the criterion for low-damage clamping. The maximum allowable clamping force was determined to be 3.5 N, under which the maximum fruit compression ratio was 10%. The maximum cutting force required to shear the pedicel was 15.03 N. Based on these results, a harvesting strategy consisting of fruit clamping, fruit pull-down, and pedicel cutting was proposed. A five-bar linkage was adopted as the main mechanism of the end-effector, and its kinematic and mechanical models were established. Taking the minimum driving torque as the optimization objective, a genetic algorithm was used to optimize the linkage dimensions. The optimized driving torque was 0.801 N m, and a calculation method relating the target fruit diameter to the servo rotation angle was established. Harvesting experiments under prescribed target diameters showed a harvesting success rate of 95%, and the single-fruit harvesting time was 5.1 s, demonstrating the excellent harvesting capability of the proposed end-effector.
Source: Agriculture
Authors: Xingxiao Ma, Mingjie Li, Hongxuan Liang, Jianneng Chen, Xiong Zhao
Language: English
Subfield: Mechanical Engineering
Field: Engineering
Domain: Physical Sciences
SDG: Zero hunger
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W7204120051