Design and Evaluation of a Novel Actuated End Effector for Selective Broccoli Harvesting in Dense Planting Conditions

Zhiyu Zuo (), Yue Xue, Sheng Gao, Shenghe Zhang, Qingqing Dai, Guoxin Ma and Hanping Mao
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Zhiyu Zuo: College of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Yue Xue: College of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Sheng Gao: College of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Shenghe Zhang: College of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Qingqing Dai: College of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Guoxin Ma: College of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Hanping Mao: College of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China

Agriculture, 2025, vol. 15, issue 14, 1-27

Abstract: The commercialization of selective broccoli harvesters, a critical response to agricultural labor shortages, is hampered by end effectors with large operational envelopes and poor adaptability to complex field conditions. To address these limitations, this study developed and evaluated a novel end-effector with an integrated transverse cutting mechanism and a foldable grasping cavity. Unlike conventional fixed cylindrical cavities, our design utilizes actuated grasping arms and a mechanical linkage system to significantly reduce the operational footprint and enhance maneuverability. Key design parameters were optimized based on broccoli morphological data and experimental measurements of the maximum stem cutting force. Furthermore, dynamic simulations were employed to validate the operational trajectory and ensure interference-free motion. Field tests demonstrated an operational success rate of 93.33% and a cutting success rate of 92.86%. The end effector successfully operated in dense planting environments, effectively avoiding interference with adjacent broccoli heads. This research provides a robust and promising solution that advances the automation of broccoli harvesting, paving the way for the commercial adoption of robotic harvesting technologies.

Keywords: broccoli harvesting; end effector; agricultural robotics; selective harvesting; grasp-and-cut (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2025
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