Victor Bloch,  Amir Degani

Achieving a low cost robotic arm is crucial in agricultural applications. Task based optimization of the robot kinematics influence the robot simplicity and cost. Nevertheless, the environment of the robot also has a major influence on its simplicity. We have simulated a variety of orchard architectures and searched for an optimal robot design for each architecture. From the training systems which we considered, the Tall Spindle system provides the minimal average time for fruit picking and thus is preferable for robotic harvesting.