Loading...

Design and Prototype Fabrication of a Palm Tree Climbing Robot for Pruning and Picking Crops

Hatami Tajik, Mohammad Javad | 2024

0 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57732 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria
  7. Abstract:
  8. Considering the importance of maintaining palm trees, this research focuses on the design of a climbing robot utilizing wheels. The goals of this robot include easy installation on the tree, climbing despite variations in trunk diameter and surface irregularities, maintaining static balance to prevent falling in a stationary state, and enabling tree pruning. Additionally, descending from the tree is an essential capability of this robot. For climbing, a rotating wheel and four auxiliary wheels are employed. A motor with a gearbox drives the rotating wheel, while the auxiliary wheels, supported by spring-lock mechanisms, provide the necessary force to prevent slipping and ensure stable movement over surface irregularities. The pruning module is mounted on the robot's main body to perform cutting operations after the robot reaches the desired location. The pruning mechanism functions as a three-degree-of-freedom arm, equipped with stepper motors and servo motors, enabling movement in the space above the robot. The results of this research are realized in the form of a laboratory prototype robot, with its main components 3D-printed and industrial parts used for the actuator systems. The prototype climbs trees at an appropriate speed and adapts to the tree’s diameter to position itself correctly
  9. Keywords:
  10. Climbing Robot ; Pruning Method ; Date Palm Tree ; Three-Degree of Freedom Robot

 Digital Object List

 Bookmark

...see more