*4.4. The Picking Test of Testbed*

First, the power supply is turned on. After the robot arm is fully started, the manipulator is driven to the top of the broccoli plant through the control panel. The underactuated mechanism gradually approaches the plant under the motor drive (Figure 13a). The manipulator holds the guard plates and cutting blade in contact with the plant (Figure 13b). Broccoli is cut under the motor drive (Figure 13c) and reaches the top of the harvest basket under the traction of the robot arm. The manipulator opens under the drive of the motor, and the broccoli falls into the harvest baskets (Figure 13d). The process is shown in Figure 13.

**Figure 13.** Experimental picking process of broccoli: (**a**) The manipulator moves closer to the broccoli; (**b**) The manipulator contacts the broccoli; (**c**) Clamping and cutting; (**d**) Broccoli is released into the harvest basket.
