Cucumbers unplugged

Since the gripper, the gripping strategy and the detaching strategy are related to each other, it is important to find the right combination of hardware and strategies in order to harvest without producing to many damaged cucumbers.

The work with two arms leads to one obvious way: Cutting the stem with a pair of sicorss.
However, this might not be the fastest way for harvest. The following videos show some human stategies for detaching:

In both videos the stem which is still connected to the fruit is too long. Another possible strategy:

The second video shows a cucumber with a damaged tip. This is also a problem for further processing of the cucumbers.


  1. these videos were rally interesting and informative i have never seen such things ever in my life and this video has developed my interest in cropping such things in my own garden..


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