Development of an automatic control system for a hydraulic pruning robot

Huang, Chaowei; Cai, Dexuan; Wang, Weizu; Li, Jun; Duan, Jieli; Yang, Zhou

doi:10.1016/j.compag.2023.108329

Cited by 4 publications

(3 citation statements)

References 24 publications

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“…According to Equation (12), the size of the angle α is only related to the pose of the tomato branch and d 1 , θ 2 and θ 3 , so the optimization objective for the angle α can be written as min…”

Section: Inverse Kinematic Model For the Optimal Pruning Posturementioning

confidence: 99%

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Optimized Design of Robotic Arm for Tomato Branch Pruning in Greenhouses

Ma,

Feng,

Sun

et al. 2024

Agriculture

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Aiming at the robotic pruning of tomatoes in greenhouses, a new PRRPR configuration robotic arm consisting of two prismatic (P) joints and three revolute (R) joints was designed to locate the end effector to handle randomly growing branches with an appropriate posture. In view of the various spatial posture of the branches, drawing on the skill of manual pruning operation, we propose a description method of the optimal operation posture of the pruning end effector, proposing a method of solving the inverse kinematics of the pruning arm based on the multi-objective optimization algorithm. According to the spatial distribution characteristics of the tomato branches along the main stem, the robotic arm structure is compact and the reachable space is maximized as the objective function, and a method of optimizing the key geometric parameters of the robotic arm is proposed. The optimal maximum length of the arm’s horizontal slide joint was determined to be 953.149 mm and the extension maximum length of its telescopic joint was 632.320 mm. The verification test of the optimal structural parameter showed that the optimized robotic arm could reach more than 89.94% of the branches in the pruning target area with a posture that meets the pruning requirements. This study is supposed to provide technical support for the development of a tomato pruning robot.

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Section: Inverse Kinematic Model For the Optimal Pruning Posturementioning

confidence: 99%

“…Pruning robots for crops like grapevines [11], fruit trees [12][13][14], poplar [15], cherry tomato [16], rose bushes [17], bell pepper [18], etc. are current hot topics in agricultural robotics.…”

Section: Introductionmentioning

confidence: 99%

Optimized Design of Robotic Arm for Tomato Branch Pruning in Greenhouses

Ma,

Feng,

Sun

et al. 2024

Agriculture

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“…In recent years, there has been an intensive development of various types of control systems influencing the dynamics of hydrostatic drive systems, in particular "load-sensing" systems [26] or microprocessor-controlled systems using proportional technology [10,18]. It is worth noting that the designer of the drive system, in addition to such basic parameters as output power, efficiency, etc., faces the problem of ensuring specific dynamic properties due to the specific operation of the designed machine -this is an increasingly frequently raised problem formulated as a necessary requirement that must be met must be a machine or device.…”

Section: Introductionmentioning

confidence: 99%

The influence of the hydropneumatic accumulator on the dynamic and noise of the hydrostatic drive operation

Stosiak,

Karpenko

2024

Eksploatacja i Niezawodność – Maintenance and Reliability

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The article presents the possibility of influencing the hydrostatic drive's dynamics and noise using a hydropneumatics accumulator. The possibility of limiting the maximum dynamic load during the start-up period of a drive equipped with an accumulator and controlled by a slide distributor is presented in the article. The influence of the accumulator on the sound pressure level and its relationship with the maximum dynamic values of the working fluid pressure in the hydraulic system is also described. Experimental studies of the dynamics and acoustics of laboratory hydrostatic systems were performed. A dynamic model of the hydrostatic drive equipped with an accumulator was developed, which was used to perform simulation tests illustrating the impact of the accumulator capacity on the system's dynamics. Acoustic tests were carried out for a system with a linear hydrostatic drive simulator.

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