Research
status and development trend of end-effectors for agricultural and forestry picking
robots

doi:10.13733/j.jcam.issn.2095-5553.2026.01.020

Abstract

Abstract:

Chinese forest fruit and vegetable output ranks among the top in the world, in order to achieve cost reduction and efficiency increase in fruit and vegetable harvesting, it is an inevitable trend to promote mechanized and automated harvesting operations. As a direct actuator of the picking function, the performance level of the end effector has a direct impact on the efficiency and quality of fruit and vegetable harvesting. By introducing the structure of the end-effector of agricultural and forestry picking robots at home and abroad and the application of intelligent control methods in the end-effector, the current research status of the end-effector is analyzed. The existing problems is summarized as follows: there is a lack of design and test for unstructured environments, the picking process is easy to damage the surface of fruits and vegetables, the picking cost is high. In response to the current existing challenges, recommendations are put forward from aspects such as the integration of forest machine and forest art, the application of advanced intelligent control technology, multi-body collaborative picking operations, and enhanced versatility and practicality of the equipment, with the aim of providing references for the development of end-effector for agricultural and forestry picking robots.

Key words: end-effector; picking machinery, intelligent control, mechanization, automatization

摘要：

我国林果、蔬菜产量居世界前列，为实现果蔬采收降本增效，推动机械化、自动化采收作业是必然趋势。末端执行器作为采摘功能的直接执行单元，其性能水平对果蔬收获效率和质量有直接影响。通过介绍国内外农林采摘机器人末端执行器的结构形式以及智能控制方法在末端执行器中的应用，分析当前末端执行器的研究现状。指出末端执行器存在缺乏针对非结构化环境下的设计与试验，采摘过程易损伤果蔬表面，采摘成本高等问题。针对当前问题，从机艺融合、深化智能控制技术应用、多体协同采摘作业、提高设备通用性和实用性等方面提出建议，以期为农林采摘机器人末端执行器的发展提供参考。

关键词: 末端执行器, 采摘机器人, 智能控制, 机械化, 自动化

CLC Number:

Huai Baoyu, Xiong Chenkun, Lei Yongjie, Zhou Jianbo. Research status and development trend of end-effectors for agricultural and forestry picking robots[J]. Journal of Chinese Agricultural Mechanization, 2026, 47(1): 140-146.

怀宝宇, 熊晨焜, 雷永杰, 周建波. 农林采摘机器人末端执行器研究现状与发展趋势[J]. 中国农机化学报, 2026, 47(1): 140-146.

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Research status and development trend of end-effectors for agricultural and forestry picking robots

农林采摘机器人末端执行器研究现状与发展趋势

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