A unique robotic bulk harvester was conceived and developed to remove apples grown on narrow inclinedtrellises. The system combined mechanical harvesting technology with sensors and intelligent adaptive technology toidentify an individual branch, determine fruit locations, position a Rapid Displacement Actuator (RDA) and a catchingsurface under the apples, and execute the RDA. Detachment was effected by rapidly displacing the limb away from thefruit. Requirements for a compatible tree training system were developed. Field testing demonstrated feasibility of thecomplete system. Fruit removal averaged 95% and detached fruit graded 99% U.S. Extra Fancy. Factors were identifiedto improve all aspects of the system and will require additional research.
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Peterson et al. (1999) studied this question.