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[Fruits and vegetables are both daily necessities, and also they are important economic crops. According to the statistics, the global production of total fruits and vegetables in 2019 reached 8.83 × 108t and 11.30 × 108t, respectively. Globally, the rate between fresh-eat and processed fruits...
[Because of the tenderness of fruits and vegetables, how to effectively reduce the damage of fruits and vegetables in the harvesting and postharvest transportation and sorting has always been a hot research spot in the field of agricultural products.]
[Usually, the robotic one-by-one harvesting action on tomato fruits consists of two basic motion elements—gripping and detaching. To discover the physical and mechanical properties of tomato fruit and stem are the basic premise for achieving damage-free harvesting.]
[The harvesting robot is usually composed of mobile platform, manipulator, end-effector, vision system, and control system. The mobile harvesting operation of the fruits and vegetables needs complex coordination among different modules. As a hand–arm system which handles the fruit and vegetable...
[The collision in speedy gripping has two characteristics: the constant active energy input and the restricted contact collision. The law of gripping force changing in this dynamic process is quite different from either the static gripping or passive falling collision. Experiment–simulation...
[Simulation studies can visualize complex physical models and inner interaction relationships and effectively expand the space-time scope of research. Different from apple and other fruits, the mechanical properties of various components of tomato fruit are extremely different.]
[Some challenges still persist in the robotic gripping and detachment of fruits individually. Firstly, because fruits such as strawberries and cherry tomatoes are extremely small, robotic gripping of individual fruit is a difficult task.]
[In robot operation, reliable gripping of fruit not only overcomes the effect of fruit gravity but also ensures the success of detaching fruit from the plant.]
[The positioning of the end-effector, the detachment, and the transportation of the fruit must be accomplished by the coordinated action of the hand–arm system. In view of the cluster growth characteristics of tomatoes, the auxiliary action of the adjacent fruit isolation also plays an important...
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