Key Parameters of Tomato Crop for Designing Semi-Automatic Robotic Harvesters

Crop characteristics that influence identification and management capacity must be thoroughly understood to develop semi-automatic robotic harvesters. Key plant properties that enable stable gripping during harvesting and reliable automated vision recognition include stem diameter, internode length, fruit position, size, shape, and surface features. While an optimal internode length and fruit setting improve accessibility and reduce obstruction, an appropriate stem diameter provides plant strength while allowing efficient cutting. Similarly, consistent fruit size and shape assist in precise identification and steady handling, whereas surface features affect grip effectiveness and the risk of mechanical damage. The design of automated harvesting devices is significantly affected by the appearance of tomato fruits. Tomato fruits can be protected against deterioration during harvest and processing by considering their physical qualities. Focusing on the development of end effectors customised to the specific attributes of target fruits, agricultural robotics has emerged as a significant area of research within the robotics domain. A comprehensive understanding of the distinct physical properties of tomato fruits is essential, as it minimises mechanical damage during handling and serves as a foundation for optimising the design of gripping components. The experimental analysis revealed that the grasping angle exerts minimal influence on the detachment force, which consistently remained around 3.3 N.