A 4-DOF SCARA Robotic Arm for Various Farm Applications: Designing, Kinematic Modelling, and Parameterization

Abstract

The agriculture industry has faced various challenges nowadays. This research is the first part of a project that presents the designing process, kinematic modelling, and parameterization of a 4-DOF SCARA-type robotic arm specifically designed for work in an agricultural field in terms of seeding, watering, fertilizing, weeding, harvesting, and transporting. The designing of parameters, such as optimum degrees of freedom and component configuration, was done. The kinematic model was calculated using the Denavit-Hartenberg method. The structure of robot was developed for inertia reduction, smooth motion, and torque minimization. The results show that the working space, maximum front access, and side access of developed robotic arm were 11.4 m2, 2.9 m, and 2.4 m, respectively. The results indicate that the robot has sufficient surface coverage for defined farm work.

Optimized Design of Robotic Arm for Tomato Branch Pruning in Greenhouses

“…Ali Roshanianfard et al optimized a robotic arm for harvesting heavyweight crops. Considering the depth of the field and cost, they designed a 4-DOF PRRR arm and chose the second, third and fourth link lengths as 500 mm, 1200 mm and 1200 mm, respectively, for workspace coverage [24].…”

Autonomous Robotic System for Pumpkin Harvesting

“…The final RTs can move on all predicted patterns with high safety indexes [6]. The VeBots laboratory same as many other laboratories in the field of ICT, has researched ARs such as path planning [7], vision intelligence [8], on-road and on-field navigation [9], navigation combination with different sensors [10,11], sensor fusion [12], autonomous tractor [13][14][15], turning functions [16,17], steering control [18], multi-robots [19], various platforms [20][21][22][23], and intelligent systems [6,[23][24][25][26][27][28][29][30][31][32][33][34][35][36][37][38][39].…”