An effector coupled to an automated harvesting apparatus, the effector comprising a sensor unit configured to obtain fruit cluster related data relating； a closed kinematic chain mechanism configured: to expand from a closed configuration to an expanded configuration； close from the expanded configuration to the closed configuration； harvesting shears configured to cut the fruit stem, said harvesting shears are coupled to the kinematical closed chain mechanism； a catch mechanism configured to catch the fruit stem after the fruit stem is cut by the harvesting shears； and, a processor configured to operate the effector to cut the fruit stem.
