Design and analysis of elevated planting strawberry harvesting robot

Abstract Strawberries grow in clusters, making it hard to pick a target strawberries surrounded by obstacles selectively. Based on the comprehensive consideration of picking success rate and picking cycle time, this paper proposes a multifunctional end-effector integrating three kinds of grippers in one body for more accurate and faster picking. Gripper 1 is used for picking strawberries with obstacles at the stem, which can realize the separation of obstacles. Gripper 2 is used to pick a single strawberry quickly. Gripper 3 is used to pick multiple ripe strawberries gathered at the same time to improve the picking efficiency. In addition, this paper also introduces the auxiliary automatic picking cycle collection mechanism, realizes the cycle of the strawberry basket, and improves work efficiency. Through the static and kinematic analysis of the gripper, the results show that the static properties of the gripper meet the requirements, the movement is stable, has no obvious impact, and meets the practical use requirements. In conclusion, the strawberry harvesting robot designed in this study has good flexibility and can adapt to complex picking environments.