Abstract
Robotics for selective harvesting is a promising emergent technology for decreasing cost of labour and improving profitability in precision agriculture. In order to contribute to advance the research in this field, this paper addresses the design of a dual-arm harvesting robot. The objective of the design was to achieve a modular torso that can be adapted to different types of plants, thus being able to vary its workspace in order to optimise harvesting. The torso holds a particular dual-arm robot system with 12 DoF, but its adaptability also allows implementing other types of arms. In addition, the torso has a variable z-axis as a support for vision cameras, which can be moved along this axis to improve image acquisition.
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