Energid technologies is developing a robotic citrus harvesting system with costs comparable to that of human labor. To achieve this, it uses multiple low-cost picking mechanisms organized into a grid. The gridded picking mechanisms are simple, with two degrees of freedom each for aiming and one degree of freedom in extension. The extending parts of the picking mechanisms have no actuators and no sensors, making them robust, easy to manufacture, and easy to replace. Organizing the picking mechanisms into a grid allows the cameras used to locate fruit for picking to be organized into an integrated grid rigidly attached to the supporting structure.