Development and testing of a low-cost multi-function robotic arm for agriculture

Ai Ping Hu, Sean Thomas, Burt Jennings, Gary McMurray, Glen C. Rains

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

1 被引用数 (Scopus)

抄録

Researchers at GTRI and UGA Tifton are collaborating on the design, fabrication, and deployment of a low-cost robot arm that is over 80% 3D-printed from plastic. The targeted first application is inspecting bell pepper leaves for the early detection of pests, for which the robot arm will be mounted onto one of UGA's autonomous rovers that are capable of navigating up and down rows of a crop autonomously. The arm will be able to carry multiple sensors or grappling packages and used in sensing and harvesting tasks. The intent of this particular study is to demonstrate the efficacy of using consumer-level 3D printing technology for an application that requires both precision and repeatability. Due to the particular geometry of the rover and the layout of the bell pepper plantings, the reach of the arm is about 5 feet measured from its anchor point on the rover. The payload for this application consists of a suite of sensors that are approximately 2 pounds. Two challenges result from the design parameters of this application: (1) the long reach of the robot arm, made mostly from relatively flexible plastic, can lead to imprecision and vibrations during motion control and (2) a 2-pound payload cantilevered several feet represents a significant weight to support.

本文言語英語
ホスト出版物のタイトルAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2014, ASABE 2014
出版社American Society of Agricultural and Biological Engineers
ページ4565-4574
ページ数10
ISBN(電子版)9781632668455
出版ステータス出版済み - 2014
イベントAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2014, ASABE 2014 - Montreal, カナダ
継続期間: 7 13 20147 16 2014

出版物シリーズ

名前American Society of Agricultural and Biological Engineers Annual International Meeting 2014, ASABE 2014
6

その他

その他American Society of Agricultural and Biological Engineers Annual International Meeting 2014, ASABE 2014
国/地域カナダ
CityMontreal
Period7/13/147/16/14

All Science Journal Classification (ASJC) codes

  • 農業および生物科学(全般)
  • 機械工学

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