Robotic Cultivation of Pome Fruit: A Benchmark Study of Manipulation Tools—From Research to Industrial Standards—

In pome fruit cultivation, apples and pears need to be handled in various processes such as harvesting sorting. Currently, most require a vast amount of manual labor. Combined with structural shortage seasonal workers, innovation this field is crucial. Automated could provide solution wherein the search for an appropriate manipulation tool essential. Aside from several grippers, customized by researchers, industry also provides wide variety standardized tools. This paper benchmarks set relevant gripping principles, primarily based on their ability successfully handle fruit, without causing damage. addition, energy consumption general feasibility are evaluated well. The performed study showed that foam gripper scores overall best all test scenarios at cost being least efficient. Furthermore, other tools excelled certain specific tasks rather than generally deployable. Impactive grippers better suited low consumption, while astrictive more sorting constricted available space. results commercially soft not always capable handling sensitive fruits