Research on the Bionic Flexible End-Effector Based on Tomato Harvesting

Table 4

Experimental results.

Tomato size (mm)	Maximum clamping force ()	Average coverage (%)	Effective grab rate (%)
65~75	5.61	32.5	100
75~85	6.84	26.9	100
85~95	7.86	23.6	100