关键词: 果蔬采摘, 末端执行器, 机器人, 果实致损, 智能化, 机械化

Abstract: At present, most of the fruit and vegetable picking is mainly based on manual picking, which has disadvantages such as low efficiency and large picking cost, while the problem of labor shortage restricts the rapid development of agriculture as the population aging problem becomes more and more serious. The endeffector, as a key component of fruit and vegetable picking robot, largely affects the picking rate and damage rate of the picking robot, and the research on the endeffector is of vital significance. The current research status of fruit and vegetable picking robots at home and abroad is fully described. The endeffectors of picking are summarized according to the different picking and driving methods, and the causes of damage in the picking process are summarized. By citing typical endeffectors of picking, we analyze the causes of fruit damage during the picking process. By comparing the specific parameters of existing picking robot endeffector solutions, the problems of inaccurate identification and positioning, low picking efficiency, etc. are presented, and the future endeffectors are prospected in terms of damage rate and picking efficiency.

Key words: fruit and vegetable picking, end effector, robot, damage to fruit, intelligent, mechanization