Design and performance analysis of soft pneumatic manipulator‐based linear cutter and stem holder for sweet pepper harvesting

摘要

Abstract Efficient automation of stem‐cutting processes in agricultural practices is crucial but little‐studied for improving productivity and reducing labor‐intensive tasks. To address this need, we present a customized stem cutter and stem holder designed explicitly for sweet pepper harvesting. The stem cutter comprises a fixed plate and a moving plate with a blade, which moves in a single plane at an upward angle of 30° toward the fixed plate. The movement of the blade is facilitated by a soft bellows pneumatic actuator constructed using silicon rubber material. By applying air pressure from a DC air pump, the actuator extends forward, causing the blade part to make contact with the fixed plate and effectively cut the stem. The stem holder holds the stem securely before cutting. It contains two inflatable manipulators made of soft materials that expand inwards when air‐filled, ensuring that the stem is securely held and readily collected after harvest. Both simulation and experimental results are presented, in which the average cutting time was 2.356 s. We believe that these innovations represent an efficient method for automating the stem‐cutting process in sweet pepper cultivation and thus significantly contribute to the field of agricultural robotics.