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Robotic harvesting of strawberries has gained much interest in the recentpast. Although there are many innovations, they haven't yet reached a levelthat is comparable to an expert human picker. The end effector unit plays amajor role in defining the efficiency of such a robotic harvesting system. Eventhough there are reports on various end effectors for strawberry harvesting,but there they lack a picture of certain parameters that the researchers canrely upon to develop new end effectors. These parameters include the limit ofgripping force that can be applied on the peduncle for effective gripping, theforce required to cut the strawberry peduncle, etc. These estimations would behelpful in the design cycle of the end effectors that target to grip and cutthe strawberry peduncle during the harvesting action. This paper studies theestimation and analysis of these parameters experimentally. It has beenestimated that the peduncle gripping force can be limited to 10 N. This enablesan end effector to grip a strawberry of mass up to 50 grams with a manipulationacceleration of 50 m/s$^2$ without squeezing the peduncle. The study onpeduncle cutting force reveals that a force of 15 N is sufficient to cut astrawberry peduncle using a blade with a wedge angle of 16.6 degrees at a30-degree orientation.

Peduncle Gripping and Cutting Force for Strawberry Harvesting Robotic End-effector Design