中文摘要：

简述了国内外末端执行器的发展现状,对非夹持与夹持类的果实获取方式和拉、折、剪、热切割等不同分离方式进行了分析与比较,对吸盘、推杆、安全杆等附加机构的功能与配置方式进行了归纳,并介绍了末端执行器中视觉、距离、接近等传感器的集成应用情况,进而指出了末端执行器研究中仍存在的问题。同时,对采摘机器人末端执行器的发展进行了展望。

英文摘要：

Present situation of end-effector for harvesting robot is introduced in this paper,holded and non-holded two harvesting ways is studied,certain detaching method to pick fruits from a plant is analysised and compared,such as stretching,bending,scissor-cutting and thermal-cutting.Meanwhile,some function and configuration of attached parts is induced,such as suction cup,handspike and safety device.Visual sensor,distance measuring sensor and proximity sensor is aslo introduced in detail.Then point several unsettled problems in the research of end-effector.At last,the research advances of harvesting end-effector is overviewed in this article.