*5.1. Material and Method*

The picking experiment was carried out on 6 November 2022. A simulated picking test was conducted under an experimental environment to verify the success rate, non-destructive rate, and picking efficiency of the mechanism. In the early stage of the experiment, the flower balls of 100 broccoli were divided into five groups with 20 broccoli each according to their diameter: 135–145, 145–155, 155–165, 165–175, and 175–185 mm. When the broccolis were brought back, their leaves had been removed; therefore, the broccolis in the experiment had no leaves; The manipulator was opened to a maximum size of 21 cm by the stepper motor drive. The broccoli was then attached to the telepad, as shown in Figure 14. Then, the test was carried out in the way described above, and these test data were recorded.

**Figure 14.** Test material: (**a**) Broccoli of different diameters; (**b**) Initial state of the manipulator; (**c**) Broccoli-picking location.
