*5.2. Analysis of Picking Results*

The statistical results of the picking test are shown in Table 4. The results of the picking experiment for 72 cherry tomatoes showed that the average picking time was 4.86 s, the picking success rate was 95.82%, and the picking damage rate was 2.90%. The damage was mainly caused by two factors. (1) The edges of the fringe ends were in contact with the tomato surface. The pressure feedback signals were inaccurate or missing. Judgment was an error. (2) Under the influence of the stalk, the branches, and the leaves, the ends clipped them. The finger did not fully attach to the fruit surface. The gripping force is too large during the rotation.

**Table 4.** Results of picking experiment.


The browning rates at 24 h, 48 h, and 72 h were 0%, 1.49% and 2.90%, respectively. The wrinkling rates at 24 h, 48 h, and 72 h were 0%, 0%, and 1.49%, respectively. The risk of browning and wrinkling increased with time after picking. Of course, browning and wrinkling were not only related to the gripping force, but also the ripeness of tomato fruit. In this work, the mature tomatoes were tested, and the effects of different maturity were not studied. Different samples of damaged cherry tomatoes are shown in Figure 16.

Therefore, based on the success rate, picking time, damage rate, browning rate, and wrinkle rate, the end-effector developed in this paper had a good fast and undamaged clamping effect, and excellent picking performance.

**Figure 16.** Examples of picking tomatoes: (**a**) Damaged fruit; (**b**) Browning fruit; (**c**) Wrinkling fruit.
