农业机械学报2026，Vol.57Issue(13)：1-24,24.DOI:10.6041/j.issn.1000-1298.2026.13.001
选择性收获机器人采收末端研究进展与展望
Research Progress and Prospects of Harvesting End Unit for Selective Harvesting Robots
摘要
Abstract
Selective harvesting robots are an important technical approach for intelligent harvesting of agricultural products.The harvesting end,which consisted of the end-effector,wrist joint,and corresponding sensing and control system,was the key unit determining harvesting success rate,damage level,and environmental adaptability.In view of the insufficient coupling among structure,sensing,and control in current studies,the research progress of harvesting ends for selective harvesting robots targeting different objects,such as fruits,tea leaves,and flowers was systematically reviewed.Firstly,the functional requirements of harvesting ends were analyzed from the aspects of biological characteristics of harvesting objects,plant attachment characteristics,canopy environment,and local spatial constraints.Secondly,focusing on end-effector and wrist-joint structures,the structural characteristics and applicability of end-effectors with different contact modes and serial/parallel wrist-joint configurations were reviewed.Furthermore,the research status of visual perception,visuotactile fusion,key-part recognition,contact-state perception,approach and alignment,compliant grasping,separation,and transfer control was summarized.Finally,the existing problems were discussed in terms of structural fault tolerance,sensing robustness,and control adaptability.Future development trends were proposed,including modular and reconfigurable harvesting ends,multimodal perception,integration of agricultural machinery and agronomy,and embodied-intelligence-driven closed-loop harvesting with perception,decision-making,and execution.关键词
选择性收获机器人/采收末端/末端执行器/腕关节/多模态感知/具身智能Key words
selective harvesting robot/harvesting end unit/end-effector/wrist mechanism/multimodal perception/embodied intelligence分类
农业科技引用本文复制引用
杜小强,崔鑫佳,潘麟,邓耀杰,陈建能,马锃宏,武传宇..选择性收获机器人采收末端研究进展与展望[J].农业机械学报,2026,57(13):1-24,24.基金项目
国家重点研发计划项目(2025YFE0209300)、国家自然科学基金项目(32372004)和浙江省自然科学基金重大项目(LD24E050006) （2025YFE0209300）
