tomato and strawberry picker with pixy and arduino and stepper

thingiverse

I'm excited to upgrade my remote controlled tomato picker with the addition of a Pixy camera, giving it the ability to work independently without human control. The original telescopic arm/picker hasn't yet been transferred to the new mount, but it will be driven by the stepper on top once it's ready. To achieve this, I'll design and 3D print a new arm/picker that's also telescopic or folds out with a picker at the far end. The mechanical hand holding the fruit will use passive touch sensors for control, relying on the stepper to calculate movement rather than distance. My setup features three 41mm steppers on the Pixy mount and 76mm steppers on the frame to move the Pixy mount itself. Plastic BB balls are used between the X and Y axes of the mount. I've modified grippers from files shared by other Thingiverse users for this project. You can see my testing progress in this playlist: https://www.youtube.com/playlist?list=PL-8tQo-m0qsfoEZP3951SIRg_sDtKz5TE