Baldo, PauloMcGuinness, BenjaminVenter, ChristoffPrinz, EvaLe, Hung PhanDuke, MikeSingh, Ajit Pal2026-08-182026-08-182025Baldo, P., McGuinness, B., Venter, C., Prinz, E., Le, H. P., Duke, M., & Singh, A. P. (2025). Design of a novel mechatronic fatigue testing system to test the functional lifespan of a compliant mechanism kiwifruit gripper-end effector device. Australasian Conference on Robotics and Automation, ACRA.1448-2053https://hdl.handle.net/10289/18552There is limited research into the fatigue life of compliant mechanisms, and a lack of standardized equipment to fatigue test such structures. This paper presented PneuGrip 2, a novel mechatronic fatigue testing system designed to fatigue test compliant mechanism robotic kiwifruit grippers. The design of its interacting mechanical, electronic, and control systems arc outlined. A compliant gripper is fatigue tested for one million cycles, replicating the forces experienced in a typical harvesting motion. The compliant mechanism showed no degradation in performance after the test. While the study demonstrated a promising lifetime for the gripper, further testing is required to establish statistical significance and fully quantify its service life.enThis is a conference presentation from the proceedings of the Australasian Conference on Robotics and Automation (ACRA 2025). © 2025 The authors.Conference Contribution