Agricultural robot in grape production system

A multipurpose agricultural robot which works in vineyard has been studied. This robot, which consists of a manipulator, a visual sensor, a travelling device and end-effecters, is able to do several works by changing the end-effecters. Four end-effectors for harvesting, berry thinning, spraying and bagging have been developed for this robot system. The harvesting end-effector which grasps and cuts rachis was able to harvest bunches with no damage. The berry thinning end-effector which consists of three unified bunch shape parts. The spraying end-effector sprays the target uniformly, and the bagging end-effector is able to put bags on growing bunches one by one continuously. From the experimental results in a field and laboratory, it was observed that each end-effector could perform efficiently