Design of Automated Rubber Tapping Mechanism

Zakaria, Wan Nurshazwani Wan; Tomari, Mohd Razali Md; Sek, Tee Kian; Zainal, Nurfarina

doi:10.1088/1757-899x/917/1/012016

Cited by 7 publications

(6 citation statements)

References 10 publications

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“…Previous studies identified two main automated alternatives to manual rubber tapping: trunk-affixed facilities and track-based systems [3,4]. However, these alternatives require a basic infrastructure and are impractical for the vast expanse of rubber forests worldwide.…”

Section: Related Workmentioning

confidence: 99%

Active Navigation System for a Rubber-Tapping Robot Based on Trunk Detection

et al. 2023

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To address the practical navigation issues of rubber-tapping robots, this paper proposes an active navigation system guided by trunk detection for a rubber-tapping robot. A tightly coupled sliding-window-based factor graph method is proposed for pose tracking, which introduces normal distribution transform (NDT) measurement factors, inertial measurement unit (IMU) pre-integration factors, and prior factors generated by sliding window marginalization. To actively pursue goals in navigation, a distance-adaptive Euclidean clustering method is utilized in conjunction with cylinder fitting and composite criteria screening to identify tree trunks. Additionally, a hybrid map navigation approach involving 3D point cloud map localization and 2D grid map planning is proposed to apply these methods to the robot. Experiments show that our pose-tracking approach obtains generally better performance in accuracy and robustness compared to existing methods. The precision of our trunk detection method is 93% and the recall is 87%. A practical validation is completed in robot rubber-tapping tasks of a real rubber plantation. The proposed method can guide the rubber-tapping robot in complex forest environments and improve efficiency.

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Section: Related Workmentioning

confidence: 99%

Active Navigation System for a Rubber-Tapping Robot Based on Trunk Detection

et al. 2023

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“…Shifting to the use of machinery can reduce overhead costs associated with estate maintenance and labor. A speeded tapping activity ensuring higher throughput by reducing human energy (and long-term wrist injury) from exerting pressure on the living trunk is one of the millennial innovations [75][76][77] availed for the rubber sector. Deployment of a more efficient tapping process allows labor size reduction, which would, in turn, reduce labor costs.…”

Section: Bcs -Efficiency Via Doing Less For More Latexmentioning

confidence: 99%

“…Expandable rubber-related TVET is envisioned for youths in smallholder families to start nurturing creative thinking skills related to rubber growing, rubber products, business models, and rubberwood as a commodity for creative earnings. Being hands-on in nature, rubber farms can be configured to serve as an experimentation ground to learn, develop problem-solving skills, and spawn innovations by needs, analogous to the tapping machine innovation by Kamil and team [75], Raghavendra [76], and Yang et al [77].…”

Section: Actualizing Bcs Systematicallymentioning

confidence: 99%

Rich Dad and Poor Dad: Biomass Circularity Science Empathizing Rubber Smallholders

Ghazali

Zbiec

2022

ARASET

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Analysis of rubber and rubberwood biomass management revealed an actualized twin-loop circularity arising from the multibillion-dollar export revenue downstream and upstream segments. Despite resembling zero-waste and resource-efficient system, the revenue from natural rubber exports does not translate as the wealth of rubber smallholders, pressing them as the persistent ‘poor dad’ in the rubber value chain. This study dwells on how to empower the smallholders through high-quality rubber production efficiency to compensate for the nose-diving rubber price. Analysis of the challenges facing the seemingly forced labor recognized operational costs as the main hindrance to productivity. Mapping the challenges to solutions identified the need for immediate actions and the transformative actionable educational approach for deploying an efficient upstream segment. Access to productive clones, government stringent taxation policy on imported rubber feedstock, and a shift to machine-tapper and portable rubber processors are the immediately actionable solutions. Availing expandable rubber-related education programs for youths in smallholder families is critical to actualize technology-driven, and high-productivity farming for the segment to build back better. Continuous learning is mandatory to innovate, engage in the value chain, and multiply the current twin-loop circularity for the succession of dignified smallholders in sustaining the rubber industry.

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“…Meanwhile, the noise can be caused and may have harm on the operator. In recent years, many scholars have attempted to use intelligent rubber tapping machinery, including rubber tapping robots [8][9][10][11][12][13] and fixed rubber tapping machines [14][15][16][17] instead of manual rubber tapping. They want to realize the precise tapping depth control of intelligent rubber tapping machinery by introducing industrial ranging technology involving machine vision [18][19][20], laser ranging [21,22] and ultrasonic ranging [9].…”

Section: Introductionmentioning

confidence: 99%

Stability Analysis of Planetary Rotor with Variable Speed Self Rotation and Uniform Eccentric Revolution in the Rubber Tapping Machinery

Cao,

Fan,

Xiao

et al. 2024

Forests

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Natural rubber is a critical material that is essential to industry and transportation. In order to reduce the cost of rubber tapping and improve the efficiency and profitability of rubber production, the 4GXJ-2 portable electric rubber cutter and automatic rubber tapping robot have been developed. In their vibration tool holder, the planetary rotor with variable speed self rotation and uniform eccentric revolution is the most important transmission component, and its instability will cause irregular vibration of the tapping tool, thereby reducing the accuracy of vibration cutting and increasing noise. Base on the ANCF (Absolute Nodal Coordinate Formulation) 3D-beam element and 3D REF (3D Ring on Elastic Foundation), a novel eccentric 3D REF model of a planetary rotor is proposed. By introducing multiple coordinate systems, the coupled motion of uniform eccentric revolution, variable speed self rotation and flexible deformation is decomposed and the influences of these motions on the centrifugal force and Coriolis force are more clearly derived. The model is degraded and validated by comparing with other examples of a rotating circular ring model and uniformly eccentrically revolving annular plate. According to the Floquet theory and Runge−Kutta method, the unstable region of revolution speed of a planetary rotor in rubber tapping machinery is predicted as [817 rad/s, 909 rad/s], [1017 rad/s, 1095 rad/s] and [1263 rad/s,1312 rad/s]. Compared with the rubber-tapping experiment of rubber tapping machinery, the validity of the proposed model is further verified. This model provides important design references for the speed settings of those rubber tapping machines.

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Design of Automated Rubber Tapping Mechanism

Cited by 7 publications

References 10 publications

Active Navigation System for a Rubber-Tapping Robot Based on Trunk Detection

Active Navigation System for a Rubber-Tapping Robot Based on Trunk Detection

Rich Dad and Poor Dad: Biomass Circularity Science Empathizing Rubber Smallholders

Stability Analysis of Planetary Rotor with Variable Speed Self Rotation and Uniform Eccentric Revolution in the Rubber Tapping Machinery

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