Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven't yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in defining the efficiency of such a robotic harvesting system. Even though there are reports on various end effectors for strawberry harvesting, but there they lack a picture of certain parameters that the researchers can rely upon to develop new end effectors. These parameters include the limit of gripping force that can be applied on the peduncle for effective gripping, the force required to cut the strawberry peduncle, etc. These estimations would be helpful in the design cycle of the end effectors that target to grip and cut the strawberry peduncle during the harvesting action. This paper studies the estimation and analysis of these parameters experimentally. It has been estimated that the peduncle gripping force can be limited to 10 N. This enables an end effector to grip a strawberry of mass up to 50 grams with a manipulation acceleration of 50 m/s$^2$ without squeezing the peduncle. The study on peduncle cutting force reveals that a force of 15 N is sufficient to cut a strawberry peduncle using a blade with a wedge angle of 16.6 degrees at a 30-degree orientation.

翻译：草莓的机械采摘在不久前引起了人们的极大兴趣。 虽然有许多创新, 但它们还没有达到与专家人类采摘者相当的水平。 终端效应器在确定这种机器人采摘系统的效率方面起着重要作用。 尽管有关于草莓采摘的各种终端效应的报告, 但是它们缺乏关于研究人员可以依赖以开发新的终端效应器的某些参数的图片。 这些参数包括: 能够用于有效抓捕小囊的握力的极限, 削减草莓小囊所需的力量, 等。 这些估计将有助于最终效果器的设计周期, 目标是在采摘过程中控制并削减草莓小囊。 本文从实验角度研究对这些参数的估计和分析。 据估计, 松动握力可以限制在10牛。 这使得终端效应器能够控制50克以上的草莓, 操纵加速50m/s%2美元, 而无需挤压腹部等。 在15度到16度的草莓刀尖上, 我们用一个足够水平的草莓刀尖进行一项研究。