End effector for robotic harvesting

A fruit harvesting system includes a vacuum generating subsystem and an end effector connected to the vacuum generating subsystem. The end effector has a first tube having a first diameter, and a second tube having a second diameter smaller than the first diameter so the second tube fits inside the first tube. A fruit harvesting system includes a vacuum generating subsystem, a tube connected to the vacuum generating subsystem and at least one structure coupled to an inside of the tube. A fruit harvesting system includes a vacuum generating subsystem, a first tube connected to the vacuum generating subsystem, and a second tube coupled to the first tube, the second tube having a tubular portion coupled to the first tube in an orientation other than parallel, the second tube having openings on opposite sides of the first tube. 种果实收获系统包括真空生成子系统和连接到真空生成子系统的末端执行器。末端执行器具有：第管，其具有第直径；以及第二管，其具有小于第直径的第二直径，因此第二管配合在第管内侧。种果实收获系统包括：真空生成子系统；连接到真空生成子系统的管；以及联接到管的内侧的至少个结构。种果实收获系统包括：真空生成子系统；第管，其连接到真空生成子系统；以及联接到第管的第二管，所述第二管具有以除了平