*2.3. Experiments*

In the process, different robot working speeds were tested, with the objective of determining the influence on the graft success. The robot speeds were constant within each test and ranged from 100 mm/s to 600 mm/s, with gradual increments of 100 mm/s. In total, six working speeds were tested.

A total of 900 grafts were prepared, divided into three experimental blocks consisting of a total of 300 grafted seedlings each, where a total of 50 grafts were performed for each of the six test rates. The sum of the experimental blocks, equal to one another, therefore consisted of a total of 150 resulting grafts for each of the six tested velocities.

Only the work times of the external processes on the seedlings (manipulations on the trays, cutting, and dispensing of the clip) were kept constant between the tests. It was understood that since the work times are based on pneumatic technology, they were optimized for the corresponding work speed at 3.5 bar (0.35 MPa).

Each experimental block, when was developed on a specific date, was treated under the same cultivation, manipulation, and post-graft healing conditions, with the aim of matching the development conditions between the three experimental blocks. In addition, for each of the experimental blocks, the positional order of each test rate was altered, thereby neutralizing the dependence of said factor.

The statistical analysis of the collected data was performed using the software Minitab v.18.1. The obtained results were subjected to an analysis of variance with a confidence level of 95%, and contrast tests were applied using Tukey's test (honestly significant difference, HSD test).
