In response to the growing need for efficient, stable, and non-destructive gripping in apple harvesting robots, this study proposes a novel rigid–flexible coupled end-effector. The design integrates an underactuated mechanism with a real-time force feedback control system. First, compression tests on ‘Red Fuji’ apples determined the minimum damage threshold to be 24.33 N. A genetic algorithm (GA) was employed to optimize the geometric parameters of the finger mechanism for uniform force distribution. Subsequently, a rigid–flexible coupled multibody dynamics model was established to simulate the grasping of small (70 mm), medium (80 mm), and large (90 mm) apples. Additionally, a harvesting experimental platform was constructed to verify the performance. Results demonstrated that by limiting the contact force of the distal phalange region silicone (DPRS) to 24 N via active feedback, the peak contact forces on the proximal phalange region silicone (PPRS) and middle phalange region silicone (MPRS) were effectively maintained below the damage threshold across all three sizes. The maximum equivalent stress remained significantly below the fruit’s yield limit, ensuring no mechanical damage occurred, with an average enveloping time of approximately 1.30 s. The experimental data showed strong agreement with the simulation, with a mean absolute percentage error (MAPE) of 5.98% for contact force and 5.40% for enveloping time. These results confirm that the proposed end-effector successfully achieves high adaptability and reliability in non-destructive harvesting, offering a valuable reference for agricultural robotics.

To address the issues of low efficiency and repeated soil compaction caused by segregated pre-sowing operations for residual film recovery and soil preparation in Xinjiang’s long-term film-mulched cotton fields, this study developed a sowing-layer residual film recovery machine integrated with soil preparation functionality. The modular machine sequentially performs harrowing, film-pickup, removal, collection, soil crushing, and leveling operations. An orthogonal experiment focusing on film-pickup rate and film-removal rate was conducted using forward speed, roller speed, and working depth as experimental factors to evaluate the residual film recovery performance. Simultaneously, the effectiveness of the soil preparation operation was quantitatively validated. The results indicated that the order of factor influence significance on the film-pickup rate was forward speed > working depth > rotational speed of the film-removal roller, while the film-removal rate was primarily affected by the rotational speed of the film-removal roller. The optimal parameter combination was identified as a forward speed of 4 km/h, a film-removal roller speed at 300 r/min, and a working depth of 120 mm. Validation tests under these conditions yielded a pickup rate of 71.23% and a removal rate of 95.06%. Regarding soil preparation, the surface evenness was maintained at 1.23 cm after operation, demonstrating significant performance improvement over previous machine prototypes. This study promises to deliver crucial advancements for combined pre-sowing operations, offering support for future agricultural machinery innovation.