Fruit and vegetable harvesting robots have been widely studied and developed in recent years. However, the usage of existing end-effectors remains a challenge because they cannot be extended to other fruits and vegetables. This study proposes a novel end-effector that can harvest a variety of fruits and vegetables without any additional and complex control. For efficient harvesting, an end-effector in which the cutting, suction and transporting modules were integrated was designed and the performance of each module was verified through lab and field experiments, ensuring a reduction in harvesting time and improved productivity, the goal of harvest automation. Field experiments were conducted for a total of five cases (− 30°, − 15°, 0°, 15° and 30°) for each entry angle in three places. A total of 160 cluster tomatoes were harvested, with a total success rate of 80.6% and a total harvesting time of 15.5 s. The success rates for each entry angle were 75.0%, 71.9%, 93.8%, 81.2% and 81.2% and the harvesting times were 20.2, 16.0, 13.5, 13.7 and 14.1 s, respectively. The results also open the possibility of designing a robust harvesting system for the proposed end-effector. This study also provides directions for future discussion through which harvesting robots and the utilization of robust harvesting systems can be improved.

果蔬采摘机器人近年来得到了广泛的研究和开发。然而，现有末端执行器的使用仍然是一个挑战，因为它们无法扩展到其他水果和蔬菜。本研究提出了一种新型末端执行器，无需任何额外和复杂的控制即可收获各种水果和蔬菜。为了实现高效收割，设计了集切割、吸取和运输模块于一体的末端执行器，并通过实验室和现场实验验证了每个模块的性能，确保缩短收割时间并提高生产率，实现收割自动化的目标. 在三个地方对每个入射角进行了总共五种情况（−30°、−15°、0°、15°和30°）的现场实验。共收获160串番茄，总成功率为 80.6%，总收获时间为 15.5 秒。每个进入角度的成功率分别为 75.0%、71.9%、93.8%、81.2% 和 81.2%，收获时间分别为 20.2、16.0、13.5、13.7 和 14.1 秒。结果还开启了为建议的末端执行器设计强大的收集系统的可能性。这项研究还为未来的讨论提供了方向，通过这些讨论可以改进收割机器人和稳健收割系统的利用。