Evaluation of a gripper for a dragon fruit harvesting robot

P. González-Planells; C. Blanes; P. Beltrán; C. Asenjo; C. Ortiz; F. Rovira-Más

Jump to Content

Evaluation of a gripper for a dragon fruit harvesting robot

In: Precision agriculture '25

Authors:

P. González-Planells

P. González-Planells

Search for other papers by P. González-Planells in
Current site
Google Scholar
PubMed

C. Blanes

C. Blanes

Search for other papers by C. Blanes in
Current site
Google Scholar
PubMed

P. Beltrán

P. Beltrán

Search for other papers by P. Beltrán in
Current site
Google Scholar
PubMed

C. Asenjo

C. Asenjo

Search for other papers by C. Asenjo in
Current site
Google Scholar
PubMed

C. Ortiz

C. Ortiz
cortiz@dmta.upv.es

Search for other papers by C. Ortiz in
Current site
Google Scholar
PubMed

, and

F. Rovira-Más

F. Rovira-Más

Search for other papers by F. Rovira-Más in
Current site
Google Scholar
PubMed

Type:: Chapter

Pages:: 984–990

DOI:: https://doi.org/10.1163/9789004725232_129

Access via:

Dar Hadith al Hassania

Download PDF

Dragon fruit, or pitahaya, is a tropical fruit of growing interest in the European market. This study evaluates two new robot grippers for harvesting pitahayas with a robot with two cutting devices: a vibration blade and pneumatic scissors. Four pneumatically actuated fingers were built to collect the pitahayas. Experiments revealed three main challenges for detaching and collecting dragon fruits: the high weight of each piece, the risk of physical damage at grasping, and the difficult access to the peduncle targeted by the cutter tool. Despite these challenges, over 75% of ripened fruits were successfully detached and collected, with less than 12% of ‘Purple’ fruits sustaining damage. In conclusion, both designs could be a possible solution for a robot harvesting delicate fruits.

Citation Info

Save
Cite
Email this content

Share link with colleague or librarian

You can email a link to this page to a colleague or librarian:
Email this content
or copy the link directly:

https://brill.edhh.ma/edcollchap-oa/book/9789004725232/BP000129.xml
The link was not copied. Your current browser may not support copying via this button.

Link copied successfully

Collapse
Expand

Precision agriculture '25

E-Book ISBN:: 9789004725232

Publisher:: Wageningen Academic

Print Publication Date:: 18 Jun 2025

Subjects
- Life Sciences
  - General
  - Agriculture & Environment

Metrics

	All Time	Past 365 days	Past 30 Days
Abstract Views	0	0	0
Full Text Views	99	82	6
PDF Views & Downloads	128	96	3

African Studies	Education	Media Studies
American Studies	History	Middle East and Islamic Studies
Ancient Near East and Egypt	Human Rights and Humanitarian Law	Musicology
Art History	International Law	Philosophy
Asian Studies	International Relations	Religious Studies
Biblical Studies	Jewish Studies	Slavic and Eurasian Studies
Biology	Languages and Linguistics	Social Sciences
Book History and Cartography	Life Sciences	Theology and World Christianity
Classical Studies	Literature and Cultural Studies

Subjects

Authors

Open Access

Product Information

Company

Contact

Evaluation of a gripper for a dragon fruit harvesting robot

Citation Info

Share link with colleague or librarian

Precision agriculture '25

Table of Contents

Metrics

Metrics