Design and experiment of end effect for kiwifruit harvesting based on optimal picking parameters

A kiwifruit harvesting end effector was designed and developed to improve the efficiency of mechanized kiwifruit harvesting. Firstly, the automated kiwifruit picking process was determined according to the kiwifruit orchard working environment. Secondly, the end effector was designed and analyzed based on the principle of kiwifruit picking. Finally, an orchard experiment was conducted with the clamping force, rotation angle and rotation speed of the end effector as test factors, and the separation success rate, separation time and damage rate of kiwi fruit as test indicators. A regression model between the test factors and test indicators was established using a quadratic fitting equation to analyze the influence between the test factors and indicators. The experimental results showed that the optimal parameter was a clamping force of 3.05 N, a separation angle of 65.75 degrees, and a separation speed of 60.03 degrees/s. The results of the study provide theoretical basis and technical support for automated kiwifruit harvesting.