Design and Simulation of an End Effector for Automated Harvesting the Tomato in Siemens NX

Automated agriculture has significantly transformed farming techniques, encompassing a wide range of activities like sowing, reaping, and packaging crops. These cutting-edge solutions have substantially decreased the reliance on human manpower while significantly improving the overall effectiveness of farming. The pivotal role in the success of these automated systems is played by robotic arms, which can be meticulously programmed to carry out particular tasks swiftly and with precision. This high level of precision is pivotal in elevating crop yields while reducing labor expenses. Among the various components of harvesting robots, the end-effector emerges as the linchpin due to its direct physical interaction with the fruit, exerting a substantial influence on the overall harvesting performance. The design considerations associated with the end-effector, which encompass aspects such as the clamping mechanism and the pneumatic control system, are paramount when it comes to successfully integrating harvesting automation. In this study, we delve into using Siemens NX for tasks such as 3D modeling, assembly, and simulation to facilitate the design and motion control to automate the harvesting process of tomatoes using the end effector. Our extensive simulation endeavors using Siemens NX have yielded auspicious outcomes, conclusively affirming the practicality and effectiveness of our end-effector design for tomato harvesting. These favorable findings serve as a robust foundation for the real-world implementation of our innovative end-effector design, offering enhanced efficiency and productivity in tomato harvesting.