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

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.