Global population is expected to exceed 9 billion people by 2050 which will require a 70% increase in net global food production. 75% of global farm holdings are considered small at 2.5 acres or less. While contemporary industrial farming gains efficiency through increased mechanization, it comes with significant environmental costs. Industrial farming practices such as frequent tillage, monocropping and use of synthetic fertilizers, pesticides and herbicides are unsustainable practices that will continue to degrade the surrounding ecosystem. Small scale farms present an opportunity to utilize regenerative farming practices; however, they are potentially challenging to scale up and expensive to automate with conventional automation solutions. In this thesis, soft robotic end effectors are explored as a potential means of harvesting on regenerative (as well as conventional) farms. Three end effector designs are testing for parameters including grasp variability, grasp effectiveness and real-world simulation on apple orchards at Michigan State University. Apple harvesting metrics including detachment force, diameter and weight have been collected for one hundred early harvest Spartan-Macintosh variety apples. Results of this evaluation show promise for the application of these low-cost technologies; however, much work is needed before a complete and viable soft robotic harvesting system is available.
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