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The article presents the results of the development of an autonomous robotic system for fruit harvesting, with the design of structural components and modeling of its operation. A new design of a gripping device with flexible fingers is proposed, which minimizes damage to fruits during harvesting and transportation. To reduce the impact loads on the fruit when falling into the container, an inertial brake is proposed, which reduces the impact force to values that are safe for the integrity of the fruit. FEM and experimental tests have been carried out, confirming the effectiveness of the developed system. The results demonstrate the possibility of combining methods of tearing and twisting fruits, as well as high reliability of operations for transportation and storage.

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A New Computer-Aided Design Solution for a Fruit Harvesting Robotic System

  • 会议论文

  • 发表日期：

    2026年

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  • Larisa Rybak,
  • Artem Voloshkin,
  • Marco Ceccarelli,
  • Dmitry Malyshev

摘要

The article presents the results of the development of an autonomous robotic system for fruit harvesting, with the design of structural components and modeling of its operation. A new design of a gripping device with flexible fingers is proposed, which minimizes damage to fruits during harvesting and transportation. To reduce the impact loads on the fruit when falling into the container, an inertial brake is proposed, which reduces the impact force to values that are safe for the integrity of the fruit. FEM and experimental tests have been carried out, confirming the effectiveness of the developed system. The results demonstrate the possibility of combining methods of tearing and twisting fruits, as well as high reliability of operations for transportation and storage.