Design and development of a 5R 2DOF parallel robot arm for handling paper pot seedlings in a vegetable transplanter

Rahul, Kumar; Raheman, Hifjur; Paradkar, Vikas

doi:10.1016/j.compag.2019.105014

Cited by 53 publications

(34 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…2-DOF robots are typically used in the agriculture industry. The demand for these robots continues to increase as the demand for food supply increases, but the labor is limited [3]. Particularly, the robot arm is frequently used is 4-DOF.…”

Section: Robot Arm Designmentioning

confidence: 99%

Kinematic Modeling of A Low Cost 4 DOF Robot Arm System

2020

IJETER

View full text Add to dashboard Cite

Robot arm systems are often used worldwide to enhance the quality and productivity of production in the manufacturing industry. Typical applications of robot arm systems include assembly, painting, welding, and pick and place operations. The number of degree-of-freedom (DOF) for most robots in the industry is limited to 6 DOF. An increase in DOF causes a robot arm design to become considerably complicated. This study mainly aims to perform modeling of a low cost 4 DOF robot arm. Modeling simulation of a robot arm was performed using MATLAB. The transformation matrix for each robot arm joint was obtained using the Denavit and Hartenberg convention technique. The modeling concept used for the actual and simulated robot arm is the forward and inverse kinematic models. The accuracy of the robot arm modeling was evaluated by calculating the error value between the modeling of the actual and simulated robot arms. This study successfully modeled a robot arm, although other easy modeling approaches should be investigated in the future.

show abstract

Section: Robot Arm Designmentioning

confidence: 99%

Kinematic Modeling of A Low Cost 4 DOF Robot Arm System

2020

IJETER

View full text Add to dashboard Cite

show abstract

“…The automatic transplanting of healthy potted seedlings can not only ensure the integrity of seedling growth but also reduce the time consumption of manual operation in the whole process of vegetable factory production. Many automatic transplanting systems have been developed for transplanting different kinds of potted seedlings (Han et al, 2018a,b;Rahul et al, 2019;Jin et al, 2020). The transplanting mechanism was designed and the theory of automatic transplanting was analyzed in literature (Sun et al, 2017;Vivek et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

A Framework for Identification of Healthy Potted Seedlings in Automatic Transplanting System Using Computer Vision

et al. 2021

View full text Add to dashboard Cite

Automatic transplanting of seedlings is of great significance to vegetable cultivation factories. Accurate and efficient identification of healthy seedlings is the fundamental process of automatic transplanting. This study proposed a computer vision-based identification framework of healthy seedlings. Vegetable seedlings were planted in trays in the form of potted seedlings. Two-color index operators were proposed for image preprocessing of potted seedlings. An optimal thresholding method based on the genetic algorithm and the three-dimensional block-matching algorithm (BM3D) was developed to denoise and segment the image of potted seedlings. The leaf area of the potted seedling was measured by machine vision technology to detect the growing status and position information of the potted seedling. Therefore, a smart identification framework of healthy vegetable seedlings (SIHVS) was constructed to identify healthy potted seedlings. By comparing the identification accuracy of 273 potted seedlings images, the identification accuracy of the proposed method is 94.33%, which is higher than 89.37% obtained by the comparison method.

show abstract

“…Servo-based actuators have also been developed and added to a mobile robot to perform seeding in the field [44]. A mobile robot has been developed with a two degree-of-freedom (DoF) parallel robotic arm manipulator for handling paper pot seedlings [45]. Robots have also been developed to evaluate crop fields using manipulators, such as "Robotanist," that deployed a manipulator on a mobile robot to measure stalk strength [5], or BoniRob, which had a four wheel steering robot to measure soil compaction [37].…”

Section: Introductionmentioning

confidence: 99%

Development of a Multi-Purpose Autonomous Differential Drive Mobile Robot for Plant Phenotyping and Soil Sensing

Iqbal

Halloran

et al. 2020

Electronics

View full text Add to dashboard Cite

To help address the global growing demand for food and fiber, selective breeding programs aim to cultivate crops with higher yields and more resistance to stress. Measuring phenotypic traits needed for breeding programs is usually done manually and is labor-intensive, subjective, and lacks adequate temporal resolution. This paper presents a Multipurpose Autonomous Robot of Intelligent Agriculture (MARIA), an open source differential drive robot that is able to navigate autonomously indoors and outdoors while conducting plant morphological trait phenotyping and soil sensing. For the design of the rover, a drive system was developed using the Robot Operating System (ROS), which allows for autonomous navigation using Global Navigation Satellite Systems (GNSS). For phenotyping, the robot was fitted with an actuated LiDAR unit and a depth camera that can estimate morphological traits of plants such as volume and height. A three degree-of-freedom manipulator mounted on the mobile platform was designed using Dynamixel servos that can perform soil sensing and sampling using off-the-shelf and 3D printed components. MARIA was able to navigate both indoors and outdoors with an RMSE of 0.0156 m and 0.2692 m, respectively. Additionally, the onboard actuated LiDAR sensor was able to estimate plant volume and height with an average error of 1.76% and 3.2%, respectively. The manipulator performance tests on soil sensing was also satisfactory. This paper presents a design for a differential drive mobile robot built from off-the-shelf components that makes it replicable and available for implementation by other researchers. The validation of this system suggests that it may be a valuable solution to address the phenotyping bottleneck by providing a system capable of navigating through crop rows or a greenhouse while conducting phenotyping and soil measurements.

show abstract

Design and development of a 5R 2DOF parallel robot arm for handling paper pot seedlings in a vegetable transplanter

Cited by 53 publications

References 23 publications

Kinematic Modeling of A Low Cost 4 DOF Robot Arm System

Kinematic Modeling of A Low Cost 4 DOF Robot Arm System

A Framework for Identification of Healthy Potted Seedlings in Automatic Transplanting System Using Computer Vision

Development of a Multi-Purpose Autonomous Differential Drive Mobile Robot for Plant Phenotyping and Soil Sensing

Contact Info

Product

Resources

About