An example system includes a vacuum generating device, a robotic arm, and a harvesting device coupled to the robotic arm. The harvesting device includes an end-effector having an inlet; a vacuum tube coupled to the inlet of the end-effector and to the vacuum generating device, where the vacuum generating device is configured to generate a vacuum environment in the vacuum tube; an outlet mechanism coupled to the vacuum tube; and a deceleration structure configured to decelerate fruit that has traversed at least a portion of the vacuum environment.