Soft grippers have emerged as a promising solution for the handling of objects with diverse geometry. Efficient management and packaging of pitahaya (Hylocereus Undatus), particularly in export operations, pose significant challenges due to the high labor demands. This research addresses the increasing need for automation in agricultural processes to enhance both productivity and product quality. Although substantial research has been conducted on agricultural robotics, particularly mobile platforms, manipulators, and image recognition systems, the development of specialized gripping mechanisms for pitahaya remains underexplored. In this study, we present the design of a soft robotic gripper tailored for handling pitahaya. The gripper’s design is based on simulations using CAD tools, as well as stress and strain analysis performed on both the fruit and the manipulator to ensure a delicate and precise grip. The gripper’s functionality was validated using a KUKA KR10 robotic system, demonstrating its capability to process four boxes per minute, resulting in a 64% reduction in packing time.