Hardware Prototype and System Apparatus of an Autonomous Robotic Harvesting Cell

This paper presents a novel autonomous robotic harvesting cell designed for hydroponic plant cultivation within a compact, self-contained system. The system integrates a robotic manipulator mounted on a gantry mechanism, enabling precise and automated pruning and harvesting operations. An RGB-D camera supports real-time object detection, while a custom-designed cutter-integrated directly into the manipulator-eliminates the need for additional actuators. The hardware prototype serves as a small-scale autonomous farming unit, demonstrating the feasibility of fully automated crop management in controlled environments. As an initial application, the system incorporates vision-based detection of tomato fruits and suckers. To facilitate continued development, a simulation model was created in Unity 3D, supporting virtual prototyping, system implementation, and algorithm evaluation prior to physical deployment. By combining advanced automation with a compact, modular design, the proposed robotic harvesting cell offers a scalable solution for indoor farming, urban agriculture, and small-scale food production.