Considering the increasing difficulty in finding seasonal workers to harvest vineyards, adopting new autonomous technologies is essential to sustain the wine supply industry for both small and large producers. The goal of this master’s thesis is to design, develop, and test a mechatronic vineyard-harvesting robot. Specifically, the robot must recognize grapes in a vineyard environment using an AI vision model, grasp them with a human-inspired actuated hand equipped with piezoresistive sensors, and then cut the stem above each grape to complete the harvesting task before moving on to the next target. Since this project is carried out with five colleagues, this particular work focuses on prototyping the control of multiple servomotors using PWM signals generated by a PCA9685 16-Channel Servo Driver, connected to an STM32NUCLEO-F401RE microcontroller via the I2C protocol.