Design and preliminary testing of a novel semi-automatic saffron harvesting device

This paper addresses the procedure for designing a novel mechatronic device for a semi-automatic saffron harvesting. The design process includes the kinematic analysis and synthesis of the proposed mechanism to fulfill a grasping and harvesting of saffron flower with a specific two-finger gripper design. Then, a cam mechanism and elastic spring elements are designed to provide a shaking movement that achieves the splitting of the flower from its steam and a consequent flower harvesting. This is followed by a suction system for collecting and storing the harvested flowers. A 3D printed prototype is reported and preliminarily tested for validating the engineering feasibility and effectiveness of the proposed design solution.