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As seen in Figure 4, the torque output of the servo was not high enough for the knife to go through the pit. We realized that a high torque servo was required for the final prototype. Additionally, there are motions in two planes required. Typically when one removes a pit from an avocado they cut down into the pit, twist the knife to loosen the pit from the avocado flesh, and then lift the knife and pit out of the avocado. This twisting motion was implemented in our final design.
Figure 5: View of the linkage at the knife handle
Since we already had a hole drilled into the knife in a nonideal plane, we added the two blue linkages to create the twisting motion described above. In the relaxed state, the two linkages remained parallel to the base board (shown). In the activated state, they created a small hill or peak above the base board (not shown).