Design and Kinematic Analysis of Cable-Driven Target Spray Robot for Citrus Orchards
Design and Kinematic Analysis of Cable-Driven Target Spray Robot for Citrus Orchards
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DOI：
10.3390/app12189379
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发表时间：
2022-09
期刊：
影响因子：
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通讯作者：
Xiulan Bao;Yuxin Niu;Yishu Li;Jincheng Mao;Shanjun Li;Xiaojie Ma;Q. Yin;Biyu Chen
中科院分区：
文献类型：
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作者：
Xiulan Bao;Yuxin Niu;Yishu Li;Jincheng Mao;Shanjun Li;Xiaojie Ma;Q. Yin;Biyu Chen
在东南亚，许多柑橘品种都生长在丘陵地区。与平原果园相比，大型喷雾设备在丘陵果园移动困难。小型喷雾设备可以进入丘陵果园，但其喷雾功率无法使液滴渗透到冠层中，导致冠层内沉积速率低。作为一种非结构化的狭窄空间，林冠内树枝交错，因此需要一种能够在林冠内移动的柔性机械手。为了实现对作物冠层内的精确喷雾，设计了一种新型的遥控、缆索驱动的靶标喷雾机器人。它包括一个小型履带车辆，电缆驱动的柔性机械手（CDFM），和喷雾系统。CDFM有六个自由度，由一个电缆肌腱驱动。建立了该机构的正、逆运动学模型，计算了其半球工作空间。在考虑精确控制要求的前提下，推导了系统的动力学方程。试验结果表明，该机器人能在树冠内灵活移动，并能通过树枝交错的方式到达病虫害发生区。整个手术时间为3.5s。该研究解决了喷雾在冠层内沉积速率低的问题，在农业植物保护中具有潜在的应用价值。
In Southeast Asia, many varieties of citrus are grown in hilly areas. Compared with plain orchards, it is difficult for large spraying equipment to move in hilly orchards. Small spraying equipment can enter hilly orchards, but their spraying power cannot make droplets penetrate into the canopy, resulting in low deposition rates within the canopy. As a kind of unstructured narrow space, the branches within the canopy are interlaced, thus a flexible manipulator that can move within the canopy is required. In this paper, a novel remote-controlled, cable-driven target spray robot (CDTSR) was designed to achieve a precise spray within the canopy. It consisted of a small tracked vehicle, a cable-driven flexible manipulator (CDFM), and a spray system. The CDFM had six degrees of freedom driven by a cable tendon. The forward and inverse kinematics model of the CDFM were established and then the semispherical workspace was calculated. Furthermore, while considering precise control requirements, the dynamics equations were derived. The experimental results demonstrated that the CFDM could move dexterously within the canopy with interlacing branches to reach pests and diseases areas in the canopy. The entire operation took 3.5 s. This study solved the problem of a low spray deposition rate within a canopy and has potential applications in agricultural plant protection.