The constant advances in agricultural robotics aiming to overcome the challenges imposed by the needs of environmental preservation wastes and costs reduction have given growing importance to the concept 4.0 agriculture, the newest field of the farming sector. This thesis focuses on the automation part included in the wider concept of smart agriculture: in particular, it explores what an end effector is and how it has to interact with the environment in order to carry out the task it is meant to undertake. The manipulator that has been developed wants to be an effective device, able to detect, grab, cut and move bunches of grapes in a smart vineyard.