Abstract
We developed a stationary robotic strawberry harvester that has the unique feature that it approaches target fruit from below. We first investigated the difficulty of approaching target fruit from below using table-top plants cultured in a greenhouse. We then measured the maximum force needed to separate fruit from the peduncle. Based on these results, we designed an end-effector prototype and installed it on a robotic arm. The performance of the end-effector was evaluated with plants growing in a table-top culture. Provided there were no obstacles below the fruit, the picking success rate exceeded 90%. When adjoining fruit were on the outer or aisle side of the target fruit, the mistake rate, as defined by harvesting a fruit other than the one targeted, was 25.0%. When there were obstacles below the fruit, the picking success rate decreased and the incidence of damaged fruit and mistake rate increased.
