Evaluation of the mechanical properties of tomato (Cv. Roma) fruits as related to the design of harvesting and packaging autonomous system

Abstract

The world is currently facing a high food price index as a result of global food security deterioration. The automation of agricultural  operations will increase food production by conserving power and energy. The purpose of this study was to evaluate some mechanical  properties of tomato fruits that are required for the development and optimization of a tomato fruit harvesting robot. The Roma tomato  seeds were planted using three different farming methods: organic, inorganic, and combined. Compost manure was used as a soil  amendment in the organic method; NPK 15:15:15 fertilizer was used as a soil amendment in the organic method; and a 5:5 mixture of  compost manure and NPK 15:15:15 fertilizer was used as a soil amendment in the organic method. Fruits from these farming methods  were harvested at two maturity stages (pink and red ripe) and their compression parameters were tested in accordance with ASABE  recommended procedures. The compression test results showed that farming method and maturity stage had a significant (p 0.05) effect  on the failure force, failure energy, and compressibility of tomato fruits. Regardless of farming method, the fruits harvested at the  pink maturity stage had higher failure force and failure energy than the fruits harvested at the red maturity stage. Similarly, regardless of  maturity stage, fruits produced with the combined treatment developed the highest compressive parameters, while control fruits  developed the lowest compressive parameters. The failure parameters of the tomato fruits revealed the maximum pressure that a  robotic system should apply to a tomato fruit in order to minimize mechanical damage to the fruit. The study's findings can be used by  robotic engineers and software developers to create and optimize a robotic system for tomato fruit production.