International Research Journal of Engineering and Technology (IRJET) Volume: 09 Issue: 05 | May 2022
www.irjet.net
e-ISSN: 2395-0056 p-ISSN: 2395-0072
Design Of Mechanical Systems for Small Scale Harvesting Robot Soham Anand Luniya1, Chinmay Shrikant Vaze2, Atharva Prashant Dasare3, Ami Barot4 1,2,3 Student,
Dept of Mechanical Engineering, PVG’s COET PUNE, Maharashtra, India Dept of Mechanical Engineering, PVG’s COET PUNE, Maharashtra, India ---------------------------------------------------------------------***--------------------------------------------------------------------4Professor,
Abstract - Automation is creating revolution in the present industrial sector, as it reduces manpower and time of production. Our project mainly deals with the shearing operation, where the Fruit ,Vegetable or Crop is picked manually and placed in the Holding Compartment for which involves risk factors. Our challenge is designing a pick and place operator to carry the Fruit, Vegetable or Crop from the Tree and place it in the Holding Compartment. We have gone through different research papers, articles and have observed the advanced technologies used in other industries for similar operations. After related study, we have achieved the design of a 3-jointed robotic arm where the base is fixed and the remaining joints move in vertical and horizontal directions. The end effector is also designed to catch or grab the crops. Here we used Solid works 2019 for the Design and Assembly and Ansys 19.2 to simulate and analyze the designed model. The traditional method for harvesting is very labor intensive and time-consuming (eg. hand plucking).
v. To design a robot arm having enough reach for harvesting targeted crops. c. Scope: i. The scope of this project was finalised taking into consideration the available time ,resources, finances and challenges due to the ongoing pandmeic. ii. The scope for the project is given below: 1. Components: Robotic arm, Holding compartment, Traction and wheels. 2. Target Crops: Brinjal, Cherry, Strawberry, Mulberry, Blueberry, Tomato, Grapes, Chilli. 3. Speed: 0 to 5 m/s
Key Words: Robotic Arm, Automation and Harvesting
4. Time per cycle: 20 to 40 sec.
1. INTRODUCTION
2. METHODOLOGY
A. Problem statement:
A waterflow approach was followed throughout the process. With this approach we followed one step at a time, reviewed steps and got feedback on it. The project methodology was as mentioned : Understanding the problem, Ideation and brainstorming Defining the scope of problem, Review of literature, Fixing the scope of project, Finalising The Mechanisms of operation, Calculation of different Machine Parameters and Torque, 3DModelling, Final Analysis and Optimization. Ideation and brainstorming sessions led to shortlisting of numerous mechanisms for each functionality. After studying the advantages and drawbacks for each of these options, mechanisms were finalised based on the following factors.
i. The traditional method for harvesting is very labour intensive and time-consuming (eg. hand plucking). ii. Manpower Required is also very large which results in harvesting being very expensive b. Objectives: i. To achieve a sufficiently detailed description of the actual agricultural conditions the harvester will have to face. ii. The objective of this research is to sufficiently reduce labour dependency and harvesting time for small scale farms.
1. Simplicity of design 2. Effectiveness
iii. To build a rigid structure of the harvest holding compartment and robotic arm for robust use and should survive in any terrestrial condition.
3. Durability 4. Ease of replacing components 5. Ease of cleaning
iv. To optimise the Design such that the bot is lightweighted and cost effective and easily operable.
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