Research Article
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Year 2023, Volume: 11 Issue: 2, 79 - 87, 30.06.2023
https://doi.org/10.18100/ijamec.1217072

Abstract

Supporting Institution

Izmir Katip Çelebi University

References

  • [1] Mitra, Manu. Robotic farmers in agriculture. Advances in Robotics & Mechanical Engineering.2019; pp. 91-93,doi: 10.32474/ARME.2019.01.000125.
  • [2] Concepcion II, Ronnie S.,and et al. ‘Denavit-Hartenberg-based Analytic Kinematics and Modeling of 6R Degrees of Freedom Robotic Arm for Smart Farming. Journal of Computational Innovations and Engineering Applications . 5.2 .2021 ; pp.1-7.
  • [3] R Shamshiri, Redmond, Cornelia Weltzien, Ibrahim A. Hameed, Ian J Yule, Tony E Grift, Siva K. Balasundram, Lenka Pitonakova, Desa Ahmad, and Girish Chowdhary. Research and development in agricultural robotics: A perspective of digital farming.2018. doi: 10.25165/j.ijabe.20181104.4278.
  • [4] Deng, H., Xiong, J., and Xia, Z. Mobile manipulation task simulation using ROS with MoveIt.IEEE International Conference on Real-time Computing and Robotics (RCAR) IEEE.2017, ;pp. 612-616. doi: 10.1109/rcar.2017.8311930.
  • [5] Cruz Ulloa, C., Krus, A., Barrientos, A., Del Cerro, J., and Valero, C. Robotic fertilisation using localisation systems based on point clouds in strip-cropping fields. Agronomy. 11.1.2020 ; pp. 11. doi:10.3390/agronomy11010011.
  • [6] Jha, Aparna, Manoj Soni, and Mohd Suhaib. Simulation and kinematic analysis of KUKA KR5 Arc robot. Vol. 1149. No. 1 . IOP Conference Series: Materials Science and Engineering.. IOP Publishing ; 2021.
  • [7] A. Candemir, F. C. Can, and M. Engineering, “Pick & Place Task Implementation of a Scara Manipulator via Robot Operating System and Machine Vision,” vol. 7, no. 6, pp. 420–430, 2022.
  • [8] M. Brandstötter, A. Angerer, and M. Hofbaur, “An Analytical Solution of the Inverse Kinematics Problem of Industrial Serial Manipulators with an Ortho-parallel Basis and a Spherical Wrist,” 2014. [Online]. Available: https://www.researchgate.net/publication/264212870.
  • [9] Tsai, Lung-Wen. Robot analysis : the mechanics of serial and parallel manipulators , John Wiley and Sons ; 1999.
  • [10] Poon, R. J. M. Design and Control of a Mounted Robotic Arm Tool Changer and Measurement Tools for Agriculture (Doctoral thessis), Massachusetts Institute of Technology). 2021; pp. 122. https://hdl.handle.net/1721.1/139075.
  • [11] Ulloa, C. C., Krus, A., Barrientos, A., Del Cerro, J., and Valero, C. Trend Technologies for Robotic Fertilization Process in Row Crops. Frontiers in Robotics and AI. 2022; pp. 9. https://doi.org/10.3389/frobt.2022.808484.
  • [12] J. M. O’Kane, A gentle introduction to ROS. Jason M. O’Kane, 2014.
  • [13] Zubrycki, Igor, and Grzegorz Granosik. Introducing modern robotics with ros and Arduino, including case studies. Journal of Automation Mobile Robotics and Intelligent Systems 8.1 . 2014 ; pp. 69-75. doi:10.14313/jamris_1-2014/9.

Design and Analysis of a Four DoF Robotic Arm with Two Grippers Used in Agricultural Operations

Year 2023, Volume: 11 Issue: 2, 79 - 87, 30.06.2023
https://doi.org/10.18100/ijamec.1217072

Abstract

Both academic and commercial interest in agricultural robots has increased recently. This is due to the fact that agricultural robots address significant issues such as seasonal labor shortages during harvest and the rising concern over environmentally friendly practices. Because of these, several distinct agricultural robots have already been created for a variety of purposes, with varying degrees of success, including monitoring, spraying, harvesting, transport, etc. As a result, agriculture automation became unfeasible and unprofitable. The purpose of this study is to provide a new methodology for multitasking in performing agriculture operations by designing a 4 Degrees of freedom (4DoF) robotic arm with a new mechanism that has a different configuration with 2 grippers. We did kinematics and kinetics calculations using Denavit-Hardenberg (D-H) method with Lagrangian mechanics, and with the help of Christoffel Symbols of the First Kind, also We used Robot Operating System (ROS) to provide potential solutions using it. It is easy to be paired with other open-source technologies, such as android or IoT technologies. The robot arm can work synchronously with other hardware, sensors, cameras, and agricultural machines concerning farming operations. In conclusion, we believe that this new configuration will open a door for agricultural tasks to be easily automated and achieved using robotic technologies.

References

  • [1] Mitra, Manu. Robotic farmers in agriculture. Advances in Robotics & Mechanical Engineering.2019; pp. 91-93,doi: 10.32474/ARME.2019.01.000125.
  • [2] Concepcion II, Ronnie S.,and et al. ‘Denavit-Hartenberg-based Analytic Kinematics and Modeling of 6R Degrees of Freedom Robotic Arm for Smart Farming. Journal of Computational Innovations and Engineering Applications . 5.2 .2021 ; pp.1-7.
  • [3] R Shamshiri, Redmond, Cornelia Weltzien, Ibrahim A. Hameed, Ian J Yule, Tony E Grift, Siva K. Balasundram, Lenka Pitonakova, Desa Ahmad, and Girish Chowdhary. Research and development in agricultural robotics: A perspective of digital farming.2018. doi: 10.25165/j.ijabe.20181104.4278.
  • [4] Deng, H., Xiong, J., and Xia, Z. Mobile manipulation task simulation using ROS with MoveIt.IEEE International Conference on Real-time Computing and Robotics (RCAR) IEEE.2017, ;pp. 612-616. doi: 10.1109/rcar.2017.8311930.
  • [5] Cruz Ulloa, C., Krus, A., Barrientos, A., Del Cerro, J., and Valero, C. Robotic fertilisation using localisation systems based on point clouds in strip-cropping fields. Agronomy. 11.1.2020 ; pp. 11. doi:10.3390/agronomy11010011.
  • [6] Jha, Aparna, Manoj Soni, and Mohd Suhaib. Simulation and kinematic analysis of KUKA KR5 Arc robot. Vol. 1149. No. 1 . IOP Conference Series: Materials Science and Engineering.. IOP Publishing ; 2021.
  • [7] A. Candemir, F. C. Can, and M. Engineering, “Pick & Place Task Implementation of a Scara Manipulator via Robot Operating System and Machine Vision,” vol. 7, no. 6, pp. 420–430, 2022.
  • [8] M. Brandstötter, A. Angerer, and M. Hofbaur, “An Analytical Solution of the Inverse Kinematics Problem of Industrial Serial Manipulators with an Ortho-parallel Basis and a Spherical Wrist,” 2014. [Online]. Available: https://www.researchgate.net/publication/264212870.
  • [9] Tsai, Lung-Wen. Robot analysis : the mechanics of serial and parallel manipulators , John Wiley and Sons ; 1999.
  • [10] Poon, R. J. M. Design and Control of a Mounted Robotic Arm Tool Changer and Measurement Tools for Agriculture (Doctoral thessis), Massachusetts Institute of Technology). 2021; pp. 122. https://hdl.handle.net/1721.1/139075.
  • [11] Ulloa, C. C., Krus, A., Barrientos, A., Del Cerro, J., and Valero, C. Trend Technologies for Robotic Fertilization Process in Row Crops. Frontiers in Robotics and AI. 2022; pp. 9. https://doi.org/10.3389/frobt.2022.808484.
  • [12] J. M. O’Kane, A gentle introduction to ROS. Jason M. O’Kane, 2014.
  • [13] Zubrycki, Igor, and Grzegorz Granosik. Introducing modern robotics with ros and Arduino, including case studies. Journal of Automation Mobile Robotics and Intelligent Systems 8.1 . 2014 ; pp. 69-75. doi:10.14313/jamris_1-2014/9.
There are 13 citations in total.

Details

Primary Language English
Subjects Intelligent Robotics, Engineering
Journal Section Research Article
Authors

Basheer Altawil 0000-0002-5716-7587

Fatih Cemal Can 0000-0002-6023-5464

Early Pub Date June 12, 2023
Publication Date June 30, 2023
Published in Issue Year 2023 Volume: 11 Issue: 2

Cite

APA Altawil, B., & Can, F. C. (2023). Design and Analysis of a Four DoF Robotic Arm with Two Grippers Used in Agricultural Operations. International Journal of Applied Mathematics Electronics and Computers, 11(2), 79-87. https://doi.org/10.18100/ijamec.1217072
AMA Altawil B, Can FC. Design and Analysis of a Four DoF Robotic Arm with Two Grippers Used in Agricultural Operations. International Journal of Applied Mathematics Electronics and Computers. June 2023;11(2):79-87. doi:10.18100/ijamec.1217072
Chicago Altawil, Basheer, and Fatih Cemal Can. “Design and Analysis of a Four DoF Robotic Arm With Two Grippers Used in Agricultural Operations”. International Journal of Applied Mathematics Electronics and Computers 11, no. 2 (June 2023): 79-87. https://doi.org/10.18100/ijamec.1217072.
EndNote Altawil B, Can FC (June 1, 2023) Design and Analysis of a Four DoF Robotic Arm with Two Grippers Used in Agricultural Operations. International Journal of Applied Mathematics Electronics and Computers 11 2 79–87.
IEEE B. Altawil and F. C. Can, “Design and Analysis of a Four DoF Robotic Arm with Two Grippers Used in Agricultural Operations”, International Journal of Applied Mathematics Electronics and Computers, vol. 11, no. 2, pp. 79–87, 2023, doi: 10.18100/ijamec.1217072.
ISNAD Altawil, Basheer - Can, Fatih Cemal. “Design and Analysis of a Four DoF Robotic Arm With Two Grippers Used in Agricultural Operations”. International Journal of Applied Mathematics Electronics and Computers 11/2 (June 2023), 79-87. https://doi.org/10.18100/ijamec.1217072.
JAMA Altawil B, Can FC. Design and Analysis of a Four DoF Robotic Arm with Two Grippers Used in Agricultural Operations. International Journal of Applied Mathematics Electronics and Computers. 2023;11:79–87.
MLA Altawil, Basheer and Fatih Cemal Can. “Design and Analysis of a Four DoF Robotic Arm With Two Grippers Used in Agricultural Operations”. International Journal of Applied Mathematics Electronics and Computers, vol. 11, no. 2, 2023, pp. 79-87, doi:10.18100/ijamec.1217072.
Vancouver Altawil B, Can FC. Design and Analysis of a Four DoF Robotic Arm with Two Grippers Used in Agricultural Operations. International Journal of Applied Mathematics Electronics and Computers. 2023;11(2):79-87.