Low Cost Robotic Manipulator for Family Agriculture

Marcia Regina Maboni Hoppen Porsch, Luiz Antonio Rasia, Nelson José Thesing, Patricia Carolina Pedrali, Antonio Carlos Valdiero

Abstract


This article introduces or designs and practices a Gantry pneumatic robotic manipulator for greenhouse automation. The prototype was built on the reduced model for sowing and harvesting vegetables using the familiar concept of agriculture. Low-cost robotic handlers can contribute to improved working conditions in family farming and enable strategies to diversify agricultural activities for low-income families. The system has two degrees of freedom, was mounted on a metal workbench using cylinders and specially manufactured guided cable actuator. The control system includes nonlinear compensations of the servo valves used. Functional tests used step input electrical signals (-4 V to +4 V and -8 V to +8 V) using open loop circuit for robot pressure and positioning control. The results obtained are important for perfecting the robotic manipulator for family farming applications.


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DOI: https://doi.org/10.5296/jas.v7i4.15369

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Paper Submission E-mail: jas@macrothink.org

Journal of Agricultural Studies   ISSN 2166-0379

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