Agricultural robot in grape production system

A multipurpose agricultural robot which worked in vineyard has been studied. This robot which consisted of a manipulator, a visual sensor, a traveling device and end-effectors was able to several works by changing end-effectors. Four end-effectors for harvesting, berry thinning, spraying and bagging were made for this robot system. The harvesting end-effector which grasped and cut rachis was able to harvest bunches with no damage. The berry thinning end-effector which consisted of three parts unified bunch shape. The spraying end-effector sprayed the target uniformly, and the bagging end-effector was able to put bags on growing bunches continuously one by one. From the experimental results in a field and a laboratory, it was observed that each end-effector could work efficiently.