Research Article
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Year 2018, , 90 - 104, 31.03.2018
https://doi.org/10.15832/ankutbd.446396

Abstract

References

  • Angeles J (1997). Fundamentals of Robotic Mechanical Systems. Theory, Methods and Algorithms. Springer, New York Balkan
  • Barawid Jr O C, Mizushima A, Ishii K & Noguchi N (2007). Development of an Autonomous Navigation System using a Two-dimensional Laser Scanner in an Orchard Application. Biosystems Engineering 96(2): 139-149
  • Cassinis R & Tampalini F (2007). AMIRoLoS an active marker internet-based robot localization system. Robotics and Autonomous Systems 55(4): 306-315 Craig J J (1989). Introduction to Robotics Mechanics and Control. USA:Addision-Wesley Publishing Company
  • De-An Z, Jidong L, Wei J, Ying Z & Yu C (2011). Design and control of an apple harvesting robot. Biosystems Engineering 110(2): 112-122
  • Denavit J & Hartenberg R S (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics 1: 215-221
  • Funda J, Taylor R H & Paul R P (1990). On homogeneous transforms, quaternions, and computational efficiency. IEEE Transactions on Robotics and Automation 6: 382-388
  • Ghazvini M (1993). Reducing the inverse kinematics of manipulators to the solution of a generalized eigenproblem. In: J Angeles, G Hommel, Kovács (Eds), Computational Kinematics, Solid Mechanics and its Applications 28: 15-26
  • Hayashi S, Shigematsu K, Yamamoto S, Kobayashi K, Kohno Y, Kamata J & Kurita M (2010). Evaluation of a strawberry-harvesting robot in a field test. Biosystems Engineering 105(2): 160-171
  • Karlik B & Aydin S (2000). An improved approach to the solution of inverse kinematics problems for robot manipulators. Engineering Applications of Artificial Intelligence 13(2): 159-164
  • Kondo N, Monta M & Fujiura T (1996). Fruit harvesting robots in Japan. Advances in Space Research 18(1-2): 181-184
  • Lee H-Y & Liang C-G (1988). Displacement analysis of the general spatial 7-link 7R mechanism. Mechanism and Machine Theory 23(3): 219-226
  • MAFF (2016). TPP or no, aging farm sector needs true reform. [Online] Available: http://www.maff.go.jp/e/ index.html. Raghavan M & Roth B (1990). Inverse kinematics of the general 6R manipulator and related linkages. Transactions of the ASME, Journal of Mechanical Design 115: 228-235
  • Richard B & Keith N (2006). Shigley’s Mechanical Engineering Design. McGraw-Hill Publishing Company Satoru G (2011). ROBOT ARMS. InTech publisher, ISBN 978-953-307-160-2
  • Serdar K & Zafer B (2006). Industrial robotics theory modelling and control. Pages 964 in C. Sam, ed Siciliano B & Khatib O (2008). Handbook of Robotics, Springer publisher, ISBN 978-3-540-23957-4
  • Tanigaki K, Fujiura T, Akase A & Imagawa J (2008). Cherry-harvesting robot. Computers and Electronics in Agriculture 63(1): 65-72
  • Tanner H G, Kyriakopoulos K J & Krikelis N I (2001). Advanced agricultural robots: kinematics and dynamics of multiple mobile manipulators handling non-rigid material. Computers and Electronics in Agriculture 31(1): 91-105
  • T, Özgören M K, Sahir Arıkan M A & Baykurt H M (2000). A method of inverse kinematics solution including singular and multiple configurations for a class of robotic manipulators. Mechanism and Machine Theory 35(9): 1221-1237
  • USDA (2015). Farm Demographics - U.S. Farmers by Gender, Age, Race, Ethnicity, and More, United States Department of Agricultur (onile article), https://www.agcensus.usda.gov/Publications/2012/ Online_Resources/Highlights/Farm_Demographics
  • Wang S-C, Hikita H, Kubo H, Zhao Y-S, Huang Z & Ifukube T (2003). Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints. Mechanism and Machine Theory 38(5): 439-461
  • Yahya S, Moghavvemi M & Mohamed H A F (2011). Geometrical approach of planar hyper-redundant manipulators: Inverse kinematics, path planning and workspace. Simulation Modelling Practice and Theory 19(1): 406-422
  • Zion B, Mann M, Levin D, Shilo A, Rubinstein D & Shmulevich I (2014). Harvest-order planning for a multiarm robotic harvester. Computers and Electronics in Agriculture 103: 75-81

Kinematics Analysis and Simulation of A 5DOF Articulated Robotic Arm Applied to Heavy Products Harvesting

Year 2018, , 90 - 104, 31.03.2018
https://doi.org/10.15832/ankutbd.446396

Abstract

Robotics can play a significant role to increase efficiency and lighten the farmer’s load. Despite challenges in the agricultural robotic designs, robots are capable of performing various tasks and changing themselves accordingly, based on specific conditions. To address modern problems in the agricultural field, an agricultural robot is one of the key technologies. Although agricultural robotic is still in the development stage, robots have a bright future ahead. This paper proposes a new 5DOF articulated robotic arm design that would become a solution for heavy crop harvestings like pumpkin and cabbage. After the development stage, this robotic arm will be mounted on a robot tractor for real experimentation. The main design process of this robotic arm was conceived using 6 stages of Shigley design process. All components were designed, assembled and analyzed by using Solidworks 2014 in compliance with Japanese Industrial Standards (JIS) standards. The parts of the system that had dynamic nature were analyzed manually using standard mechanical formulas. Calculations of the workspace required joint torque, and coordination of mass center position was done by using standard machine design methods. Denavit-Hartenberg method was used to calculate forward and inverse kinematics. To resolve the torque reduction, components were designed using different materials and mass centers and comparing their performance. Results showed that total torque in Joints number 1, 2, 3, 4 and 5 were 6.15, 257.35, 103.4, 20.2 and 0.1 respectively with a rotational speed range of 15 ~ 60 rpm. Changes in the linkage material and servo motor location improved 29.7% ~ 47.7% and 29.7% ~ 68.9% of the total required torque for each joint. The maximum distance covered by the arm was 1421 mm from the and 2026 mm from the attachment point. According to the feedback received 

References

  • Angeles J (1997). Fundamentals of Robotic Mechanical Systems. Theory, Methods and Algorithms. Springer, New York Balkan
  • Barawid Jr O C, Mizushima A, Ishii K & Noguchi N (2007). Development of an Autonomous Navigation System using a Two-dimensional Laser Scanner in an Orchard Application. Biosystems Engineering 96(2): 139-149
  • Cassinis R & Tampalini F (2007). AMIRoLoS an active marker internet-based robot localization system. Robotics and Autonomous Systems 55(4): 306-315 Craig J J (1989). Introduction to Robotics Mechanics and Control. USA:Addision-Wesley Publishing Company
  • De-An Z, Jidong L, Wei J, Ying Z & Yu C (2011). Design and control of an apple harvesting robot. Biosystems Engineering 110(2): 112-122
  • Denavit J & Hartenberg R S (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics 1: 215-221
  • Funda J, Taylor R H & Paul R P (1990). On homogeneous transforms, quaternions, and computational efficiency. IEEE Transactions on Robotics and Automation 6: 382-388
  • Ghazvini M (1993). Reducing the inverse kinematics of manipulators to the solution of a generalized eigenproblem. In: J Angeles, G Hommel, Kovács (Eds), Computational Kinematics, Solid Mechanics and its Applications 28: 15-26
  • Hayashi S, Shigematsu K, Yamamoto S, Kobayashi K, Kohno Y, Kamata J & Kurita M (2010). Evaluation of a strawberry-harvesting robot in a field test. Biosystems Engineering 105(2): 160-171
  • Karlik B & Aydin S (2000). An improved approach to the solution of inverse kinematics problems for robot manipulators. Engineering Applications of Artificial Intelligence 13(2): 159-164
  • Kondo N, Monta M & Fujiura T (1996). Fruit harvesting robots in Japan. Advances in Space Research 18(1-2): 181-184
  • Lee H-Y & Liang C-G (1988). Displacement analysis of the general spatial 7-link 7R mechanism. Mechanism and Machine Theory 23(3): 219-226
  • MAFF (2016). TPP or no, aging farm sector needs true reform. [Online] Available: http://www.maff.go.jp/e/ index.html. Raghavan M & Roth B (1990). Inverse kinematics of the general 6R manipulator and related linkages. Transactions of the ASME, Journal of Mechanical Design 115: 228-235
  • Richard B & Keith N (2006). Shigley’s Mechanical Engineering Design. McGraw-Hill Publishing Company Satoru G (2011). ROBOT ARMS. InTech publisher, ISBN 978-953-307-160-2
  • Serdar K & Zafer B (2006). Industrial robotics theory modelling and control. Pages 964 in C. Sam, ed Siciliano B & Khatib O (2008). Handbook of Robotics, Springer publisher, ISBN 978-3-540-23957-4
  • Tanigaki K, Fujiura T, Akase A & Imagawa J (2008). Cherry-harvesting robot. Computers and Electronics in Agriculture 63(1): 65-72
  • Tanner H G, Kyriakopoulos K J & Krikelis N I (2001). Advanced agricultural robots: kinematics and dynamics of multiple mobile manipulators handling non-rigid material. Computers and Electronics in Agriculture 31(1): 91-105
  • T, Özgören M K, Sahir Arıkan M A & Baykurt H M (2000). A method of inverse kinematics solution including singular and multiple configurations for a class of robotic manipulators. Mechanism and Machine Theory 35(9): 1221-1237
  • USDA (2015). Farm Demographics - U.S. Farmers by Gender, Age, Race, Ethnicity, and More, United States Department of Agricultur (onile article), https://www.agcensus.usda.gov/Publications/2012/ Online_Resources/Highlights/Farm_Demographics
  • Wang S-C, Hikita H, Kubo H, Zhao Y-S, Huang Z & Ifukube T (2003). Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints. Mechanism and Machine Theory 38(5): 439-461
  • Yahya S, Moghavvemi M & Mohamed H A F (2011). Geometrical approach of planar hyper-redundant manipulators: Inverse kinematics, path planning and workspace. Simulation Modelling Practice and Theory 19(1): 406-422
  • Zion B, Mann M, Levin D, Shilo A, Rubinstein D & Shmulevich I (2014). Harvest-order planning for a multiarm robotic harvester. Computers and Electronics in Agriculture 103: 75-81
There are 21 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Makaleler
Authors

Ali Roshanianfard Roshanıanfard This is me

Noboru Noguchı This is me

Publication Date March 31, 2018
Submission Date June 15, 2016
Acceptance Date September 17, 2017
Published in Issue Year 2018

Cite

APA Roshanıanfard, A. R., & Noguchı, N. (2018). Kinematics Analysis and Simulation of A 5DOF Articulated Robotic Arm Applied to Heavy Products Harvesting. Journal of Agricultural Sciences, 24(1), 90-104. https://doi.org/10.15832/ankutbd.446396

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Pumpkin harvesting robotic end-effector
Computers and Electronics in Agriculture
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https://doi.org/10.1016/j.compag.2020.105503

Journal of Agricultural Sciences is published open access journal. All articles are published under the terms of the Creative Commons Attribution License (CC BY).