Development of an End-effector for Robotic Harvesting of Hydroponic Lettuce

摘要

<b><sc>Abstract.</sc></b> Lettuce is one of the most demanding annual leafy green vegetables. Labor accounts for more than one-third of the total production cost for greenhouse lettuce. Decreasing labor availability and increasing labor costs are the two most critical challenges in greenhouse lettuce production. Thus, automation to reduce labor requirements is required for the industry's sustainability. This study aims to develop a prototype of a robotic end-effector for harvesting hydroponic lettuce. The shoot-cutting force was measured with a thin force sensor to provide guidelines for the end-effector design. The end-effector was developed using an actuator, shear blades, and a two-finger gripper. Cutting and holding forces work together using the first-class lever technique, where applied and acting forces are connected at the pivot point. Design validation of the end-effector was conducted. The developed robotic end-effector will serve as a pivotal component in lettuce harvesting automation. Future endeavors will focus on creating an integrated end-effector and manipulator system capable of harvesting lettuce autonomously.