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

摘要： 目前果蔬采摘大多以人工采摘为主，存在效率低、采摘成本大等缺点，同时随着人口老龄化问题的日益严重，劳动力紧缺，制约农业的快速发展。末端执行器作为果蔬采摘机器人的关键部件，在很大程度上影响着采摘机器人的采摘率和损伤率，对末端执行器的研究具有至关重要的意义。充分阐述当前国内外果蔬采摘机器人的研究现状。根据采摘方式和驱动方式的不同对采摘末端执行器进行归纳，总结出采摘过程中致损原因。通过列举典型采摘末端执行器，分析末端执行器在采摘过程中果实致损的原因；通过对现有采摘机器人末端执行器方案的具体参数对比梳理，提出存在识别定位不准、采摘效率低等问题，并从损伤率、采摘效率等方面对未来末端执行器进行展望。

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