To solve the problem of the lack of physical properties of pedicels and the changing pattern for designing the end-effector of tomato harvesting robot and different harvesting modes, research was conducted on the physical properties of tomato pedicels and their change patterns. Using a Universal TA texture analyzer, tensile, three-point bending, and shearing tests were performed on tomato pedicels in the early firm-ripening stage. The tomato variety used was Syngenta Spectrum, cultivated seasonally with two crops per year. Spring crop tomatoes were used in this study. The experimental results provide a theoretical basis for designing tomato harvesting robots across three harvesting modes. Tensile tests measured the pull-off force and tensile strength of the abscission zone with varying diameters. These results are crucial for designing robots using a tensile harvesting mode. The location of the tomato pedicel significantly affects the shearing force. A one-way test was conducted on the shearing part. The results showed that the shearing force and energy required for the proximal pedicel are significantly greater than for the distal pedicel. To reduce the shearing force and energy needed by the end-effector’s shearing mechanism on distal pedicels, a response surface test was conducted. Three factors were examined: shearing speed, angle, and distal pedicel diameter. Design–Expert software optimized these factors to minimize shearing energy and force, leading to the best shearing parameters for different distal pedicel diameters. From the three-point bending tests, the average maximum bending breaking force, bending modulus, and bending strength of the tomato abscission zone were determined. These findings offer a theoretical basis for designing tomato harvesting robots with a bending-type harvesting mode.
