Abstract: Robotic systems and specialized end-effectors provide for automated harvesting of produce such as fresh market apples. An underactuated design using tendons and flexure joints with passive compliance increases robustness to position error, overcoming a significant limitation of previous fruit harvesting end-effectors. Some devices use open-loop control, provide a shape-adaptive grasp, and produce contact forces similar to those used during optimal hand picking patterns. Other benefits include relatively low weight, low cost, and simplicity.

Abstract: Robotic systems and specialized end-effectors provide for automated harvesting of produce such as fresh market apples. An underactuated design using tendons and flexure joints with passive compliance increases robustness to position error, overcoming a significant limitation of previous fruit harvesting end-effectors. Some devices use open-loop control, provide a shape-adaptive grasp, and produce contact forces similar to those used during optimal hand picking patterns. Other benefits include relatively low weight, low cost, and simplicity.

Abstract: The embodiments are directed to a fruit harvesting system that includes at least one end-effector coupled to a distal end of the manipulating arm and configured using at least one of a jaw and a clamp to couple to one or more branches of a fruit tree or a trellis wire that is coupled to the fruit tree residing in a trained orchard. The embodiments also include a pair of dual motor actuators eccentrically coupled to the at least one end-effector and directed to manipulate the at least one end-effector with a same or different frequency, and amplitude, and with same or counter-propagating motions, wherein the directed same or different frequency and amplitude, and same or counter-propagating motions provide one or more eccentric shaking patterns to the coupled branches or the trellis wire so as to enable fruit to be removed and collected by catch frames.

Abstract: A novel mobile orchard platform and method of operation for preferably harvesting apples on trellised tress is introduced herein. An exemplary embodiment herein utilizes an articulated lifting arm which manipulates a catch frame and an apple harvesting attachment. The catch frame is configured with at least one but more often a multi-layer design of catch pans, which are inserted into the tree canopy wall lying under a trellised branch using the manipulating arm. An eccentric Dual Motor Actuator (DMA) coupled to support shafts is preferably utilized to provide shaker harmonic patterns and energy to one or more points on coupled trellis wires or one or more points of the branches of the trained trees residing in an orchard. The removed apples are caught using the catch pans.