Design of a 4-Finger End-Effector for paprika harvesting

Abstract

This study is part of research in the development of robots that can automatically harvest paprika in Protected Horticulture. We designed the mechanism of the end-effector which grasping the paprika and cutting the peduncle, and developed the control device. The end-effector has four fingers to grip, regardless of the size and shape of paprika, position. The end-effector also has a cutter to cut the peduncle of paprika and a blade disinfection system to prevent viruses during cutting. We will try to evaluate the performance through future experiments.