This book shares the latest findings on this topic, systematically introduces readers to advances made in robotic harvesting around the globe, and explores the relations between the development of robotic harvesting and the respective social/economic conditions and agricultural business patterns in various countries/regions. Due to the unstructured setting it is used in, and to the significant differences between individual fruit and vegetable targets, robotic harvesting is currently considered to be one of the most challenging robotics technologies. Accordingly, research into this area involves the integration of various aspects, including biomechanics, optimization design, advanced perception and intelligent control.
In addition to rapid and damage-free robotic harvesting, which reflects the multidisciplinary nature of the topic, further aspects addressed include gripping collisions with viscoelastic objects, using lasers to cut plant material, plant-fruit response to vacuum sucking and pulling, and performance probability distribution. Highlighting outstanding innovations and reflecting the latest advances in intelligent agricultural equipment in China, the book offers a unique and valuable resource.

Chapter 1 History and Present Situations of Robotic Harvesting Technology: A Review
1.1 An Industry of Fresh-Eat Fruits and Vegetables and Its Labor-Cost Harvesting
1.2 The History and Current Situation of the Development of Robotic Harvesting Equipment in the Whole World
1.2.1 Tomato Harvesting Robots
1.2.2 Fruit Harvesting Robot for Orchards
1.2.3 Harvesting Robots for Fruits and Vegetables
1.2.4 Other Fruit Harvesting Robots
1.2.5 Other Harvesting Robots
1.3 Summary and Prospect
1.3.1 The Continuous Progress of Robotic Harvesting Technology
1.3.2 Technical Keys to the Development of Harvesting Robot Technology
1.3.3 The Historical Characteristics of the Technology Development of the Harvesting Robots
1.3.4 The Breakthrough Points of the Technology Development of Harvesting Robots
1.3.5 Key Fields of Technology Development of Harvesting Robots
References
Chapter 2 Damage and Damage-Free Harvesting in Robotic Operation
2.1 Cause of Fruit Damage in Robot Harvesting
2.2 Passive Compliant Structure in Robotic Harvesting
2.2.1 Elastic Surface Material
2.2.2 Under-Actuated End-Effectors
2.2.3 Elastic-Medium Fingers
2.3 Active Compliance Control in Robotic Harvesting
2.4 The Robotic Speedy Damage-Free Harvesting
2.4.1 The Significance and Particularity of Robotic Speedy Damage-Free Harvesting
2.4.2 The Particularity of the Collision in Robotic Speedy Gripping of Fruit
2.4.3 The Research System of Speedy Damage-Free Harvesting
References
Chapter 3 The Physical and Mechanical Properties of Tomato Fruit and Stem
3.1 Summary
3.1.1 Research Significance
3.1.2 Content and Innovation
3.2 The Physical/Mechanical Properties Index System of Tomato Fruit-Stem Related to Robotic Harvesting
3.3 Physical Properties of Tomato Fruit and Stem
3.3.1 Structure of Tomato Fruit and Stem
3.3.2 Physical Property of Tomato Fruit and Stem
3.4 Mechanical Properties of Tomato Fruit Components
3.4.1 Material, Equipment, and Method
3.4.2 Results and Analysis
3.5 Compressive Mechanical Properties of the Whole Tomato
3.5.1 The Compression Force-Deformation Properties
3.5.2 Creep Properties
3.5.3 Stress Relaxation Properties
3.5.4 Load-Unload Properties
3.6 Frictional Mechanical Properties of Tomato Fruits
3.6.1 Static and Sliding Friction Coefficients
3.6.2 Measurement of Rolling Resistance Coefficient
3.7 Mechanical Structure Model of the Whole Tomato Fruit
3.7.1 The Wheel-like Simplification Mechanical Structure of Fruit
3.7.2 Mechanical Properties of Tomatoes with Different Numbers of Locules
3.8 Mechanical Damage in Tomato Fruits
3.8.1 Mechanical Damage Mechanism of Tomato Fruit
3.8.2 Physiological Change of Tomatoes After Being Compress
3.9 The Properties of Tomato Stem
3.9.1 Stem System
3.9.2 Mechanical Properties of Tomato Fruit System
3.9.3 Results
References
Chapter 4 Development of Damage-Free Hand-Arm System for Tomato Harvesting
4.1 Summary
4.1.1 Research Significance
4.1.2 Content and Innovation
4.2 Development of Damage-Free Harvesting End-Effector
4.2.1 System Scheme Design of Damage-Free Harvesting End-Effector
4.3 Motion Configuration Scheme
4.4 System Components of the End-Effector
4.4.1 Mechanism Design of End-Effector
4.4.2 Design of the Sensing System
4.4.3 Design of Control System
4.4.4 Design of Power Supply System
4.4.5 Structure Design of the End-Effector
4.4.6 Prototype and Its Performance Indicators
4.4.7 Upper Lower Type End-Effector
4.4.8 Passive-active Coupled Compliant End-Effector for Robot Tomato Harvesting
4.5 Damage-Free Harvesting Hand-arm System Based on Commercial Manipulator
4.5.1 Background and Needs
4.5.2 The Control System Structure of Com