*4.2. Broccoli-Picking Test Stand Set Up*

According to the requirements of planting and picking, the feasibility of the picking manipulator was verified by setting up a picking test stand. Set up a picking test stand in the laboratory environment, as shown in Figure 11. The length, width, and height of the test stand support frame are 108, 100, and 120 cm, respectively, as shown in Figure 11(1). The control cabinet was placed on the upper layer of the support frame, as shown in Figure 11(2). Figure 11(3) shows that the Siasun GCR5-910 robot arm with six degrees of freedom was hung upside down in the middle of the support frame of the test stand. The manipulator was connected to the end flange of the robot arm, as shown in Figure 11(4). A telepad with a length, width, and height of 120, 30, and 20 cm, respectively, was placed in the middle of the support frame of the test stand to simulate ridge planting conditions. Broccoli plant fixers were installed at 40 cm intervals on the telepad, as shown in Figure 11(5). Baskets with a height of 20 cm and a diameter of 30 cm were placed at the four corners horizontally from the middle point of the support frame, as shown in Figure 11(6).

**Figure 11.** Broccoli-picking test stand: (1) test stand support frame; (2) control cabinet; (3) robot arm; (4) manipulator; (5) telepad; (6) baskets.
