| Dynamixel MX-64 | 1 | Torque Applying Motor for the Cutting Mechanism |  |
| Dynamixel MX-28 | 1 | Torque Applying Motor for the Gripping Mechanism |  |
| Dynamixel MX-64 Servo Horn Couple | 1 | Affixed to the MX-64 Servo Horn |  |
| Dynamixel MX-28 Servo Horn Couple | 1 | Affixed to the MX-28 Servo Horn |  |
| M2x6mm Set Screw | 12 | Circumference Affixing Screw for Servo Horn Couples |  |
| M3x6mm Set Screw | 2 | Affixing Screw for Servo Horn |  |
| MX-64 Spacer Plate | 1 | Isolating Plate for the Cutting Module |  |
| MX-28 Spacer Plate | 1 | Isolating Plate for the Gripping Module |  |
| MX-64 Base Plate | 1 | Housing Unit for the Cutting Unit |  |
| MX-28 Base Plate | 1 | Housing Unit for the Gripping Unit |  |
| TPU Gripper Pads | 1 | Compliant Spacing for Gripping Links |  |
| Extreme-Traction Abrasive Antislip TapeSquare, 5-1/2″ Wide x 5-1/2″ Long | 1 | Increase frictional forces while gripping to reduce slipping |  |
| Unactuated Link | 4 | Grounded Link that Dictated Stroke and Force Transmission Along the transverse axis of the End-Effector |  |
| Cutting Link | 2 | Blade Holder and Floating Link of the 4-bar mechanism |  |
| Dewalt Bi-Metal Utility Blade | 2 | Cutting Blade for Gripping Links: Sharpened to Lower Blade Angle for Better Cutting Performance |  |
| Gripping Links | 2 | Links Used to Grasp Peduncles |  |
| Realsense D435 Mount | 1 | Static Mounting Piece to Rigidly Attach Realsense D435i to End-Effector |  |
| Spur Gear Links | 1 (of each) | Acts as the coupler links for the 4-bar mechanism. Two separate gears are required to allow for proper alignment of teeth |   |
| M2.5 Heat Sink | 8 | Used as a nut in affixing base plates and spacer motors to the base-plate |  |
| M6x10 Heat Sink | 1 | Used as a nut in affixing base plates and spacer plates |  |
| Brass Tubing3.5 mm OD, 0.225 mm Wall Thickness, 3 mm ID | 10 | Placed in all M3 link through holes to reduce friction with M3 Screw |  |
| 316 Stainless Steel Dowel Pin 6mm Diameter, 12mm Long | 4 | Shaft Placed in the Blind Holes of the Base Plates and Spacer Plates and within the Geared Links |  |
| 18-8 Stainless Steel Socket Head Screw, M2.5 x 0.45 mm Thread, 10 mm Long | 8 | Affixed Motors to Base-Plate via the M2.5 Heat Sink |  |
| Medium-Strength Steel Nylon-Insert LocknutClass 8, Zinc Plated, M3 x 0.5 mm Thread, 4 mm High | 12 | Affixes Links together and to the Base Plates |  |
| Button Head Hex Drive ScrewPassivated 18-8 Stainless Steel, M3 x 0.50 mm Thread, 14mm Long | 12 | Acts as the shaft to affix links together |  |
| General Purpose 18-8 Stainless Steel Washerfor M3 Screw Size, 3.200 mm ID, 6 mm OD | 6 | Reduce surface friction between links and used to align links |  |
| 18-8 Stainless Steel Round Shim0.2mm Thick, 8mm ID | 12 | Reduce surface friction between base plates and geared links, as well as for alignment |  |
| 316 Stainless Steel Pan Head Phillips ScrewsM6 x 1.00 mm Thread, 50mm Long | 1 | Affixes both base plates and spacer plates |  |
