DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR
Autor(a) principal: | |
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Data de Publicação: | 2022 |
Outros Autores: | , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Engenharia Agrícola |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0100-69162022000100206 |
Resumo: | ABSTRACT To mitigate the large demand for safflower picking labour and the low efficiency of manual picking, a safflower picking robot that is based on a parallel manipulator is designed. The whole robot mainly consists of a walking device, parallel manipulator device, vision device, picking device, filament collection device, control system, and motor drive system. The forward and inverse kinematics analysis of the parallel manipulator is analysed via a geometric method, the kinematics model is established, and the computational analysis of the parallel manipulator working speed is based on the Jacobi matrix. For driving angle errors of 0.001∼0.005°, the moving platform's motion accuracy is 0.2174–0.9387 mm, which meets the position accuracy requirements of the test stage. Based on MATLAB software, the Monte Carlo method is employed to solve the working space of the parallel manipulator, which is approximately an equilateral triangle with a side length of 0.35 m, which satisfies the safflower growth space picking conditions. The prototype is constructed, and safflower picking experiments are carried out under laboratory conditions. The average picking period of each flower bulb was 16 s, and the average net picking rate of the filaments was 87.91%. The experimental results verified the applicability of the safflower picking robot. |
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Engenharia Agrícola |
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DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATORPicking robotParallel manipulatorSafflowerKinematics analysisNet picking rateABSTRACT To mitigate the large demand for safflower picking labour and the low efficiency of manual picking, a safflower picking robot that is based on a parallel manipulator is designed. The whole robot mainly consists of a walking device, parallel manipulator device, vision device, picking device, filament collection device, control system, and motor drive system. The forward and inverse kinematics analysis of the parallel manipulator is analysed via a geometric method, the kinematics model is established, and the computational analysis of the parallel manipulator working speed is based on the Jacobi matrix. For driving angle errors of 0.001∼0.005°, the moving platform's motion accuracy is 0.2174–0.9387 mm, which meets the position accuracy requirements of the test stage. Based on MATLAB software, the Monte Carlo method is employed to solve the working space of the parallel manipulator, which is approximately an equilateral triangle with a side length of 0.35 m, which satisfies the safflower growth space picking conditions. The prototype is constructed, and safflower picking experiments are carried out under laboratory conditions. The average picking period of each flower bulb was 16 s, and the average net picking rate of the filaments was 87.91%. The experimental results verified the applicability of the safflower picking robot.Associação Brasileira de Engenharia Agrícola2022-02-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0100-69162022000100206Engenharia Agrícola v.42 n.1 2022reponame:Engenharia Agrícolainstname:Associação Brasileira de Engenharia Agrícola (SBEA)instacron:SBEA10.1590/1809-4430-eng.agric.v42n1e20210129/2022info:eu-repo/semantics/openAccessGuo,HuiLuo,DanGao,GuominWu,TianlunDiao,Hongweieng2022-02-07T00:00:00Zoai:scielo:S0100-69162022000100206Revistahttp://www.engenhariaagricola.org.br/ORGhttps://old.scielo.br/oai/scielo-oai.phprevistasbea@sbea.org.br||sbea@sbea.org.br1809-44300100-6916opendoar:2022-02-07T00:00Engenharia Agrícola - Associação Brasileira de Engenharia Agrícola (SBEA)false |
dc.title.none.fl_str_mv |
DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR |
title |
DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR |
spellingShingle |
DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR Guo,Hui Picking robot Parallel manipulator Safflower Kinematics analysis Net picking rate |
title_short |
DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR |
title_full |
DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR |
title_fullStr |
DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR |
title_full_unstemmed |
DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR |
title_sort |
DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR |
author |
Guo,Hui |
author_facet |
Guo,Hui Luo,Dan Gao,Guomin Wu,Tianlun Diao,Hongwei |
author_role |
author |
author2 |
Luo,Dan Gao,Guomin Wu,Tianlun Diao,Hongwei |
author2_role |
author author author author |
dc.contributor.author.fl_str_mv |
Guo,Hui Luo,Dan Gao,Guomin Wu,Tianlun Diao,Hongwei |
dc.subject.por.fl_str_mv |
Picking robot Parallel manipulator Safflower Kinematics analysis Net picking rate |
topic |
Picking robot Parallel manipulator Safflower Kinematics analysis Net picking rate |
description |
ABSTRACT To mitigate the large demand for safflower picking labour and the low efficiency of manual picking, a safflower picking robot that is based on a parallel manipulator is designed. The whole robot mainly consists of a walking device, parallel manipulator device, vision device, picking device, filament collection device, control system, and motor drive system. The forward and inverse kinematics analysis of the parallel manipulator is analysed via a geometric method, the kinematics model is established, and the computational analysis of the parallel manipulator working speed is based on the Jacobi matrix. For driving angle errors of 0.001∼0.005°, the moving platform's motion accuracy is 0.2174–0.9387 mm, which meets the position accuracy requirements of the test stage. Based on MATLAB software, the Monte Carlo method is employed to solve the working space of the parallel manipulator, which is approximately an equilateral triangle with a side length of 0.35 m, which satisfies the safflower growth space picking conditions. The prototype is constructed, and safflower picking experiments are carried out under laboratory conditions. The average picking period of each flower bulb was 16 s, and the average net picking rate of the filaments was 87.91%. The experimental results verified the applicability of the safflower picking robot. |
publishDate |
2022 |
dc.date.none.fl_str_mv |
2022-02-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0100-69162022000100206 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0100-69162022000100206 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1590/1809-4430-eng.agric.v42n1e20210129/2022 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Associação Brasileira de Engenharia Agrícola |
publisher.none.fl_str_mv |
Associação Brasileira de Engenharia Agrícola |
dc.source.none.fl_str_mv |
Engenharia Agrícola v.42 n.1 2022 reponame:Engenharia Agrícola instname:Associação Brasileira de Engenharia Agrícola (SBEA) instacron:SBEA |
instname_str |
Associação Brasileira de Engenharia Agrícola (SBEA) |
instacron_str |
SBEA |
institution |
SBEA |
reponame_str |
Engenharia Agrícola |
collection |
Engenharia Agrícola |
repository.name.fl_str_mv |
Engenharia Agrícola - Associação Brasileira de Engenharia Agrícola (SBEA) |
repository.mail.fl_str_mv |
revistasbea@sbea.org.br||sbea@sbea.org.br |
_version_ |
1752126275293544448 |