Evaluation of Cutting Stability of a Natural-Rubber-Tapping Robot
Natural rubber is a crucial raw material in modern society. However, the process of latex acquisition has long depended on manual cutting operations. The mechanization and automation of rubber-tapping activities is a promising field. Rubber-tapping operations rely on the horizontal cutting of the le...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Agriculture |
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| Online Access: | https://www.mdpi.com/2077-0472/13/3/583 |
| _version_ | 1797614087898660864 |
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| author | Hang Zhou Jin Gao Fan Zhang Junxiong Zhang Song Wang Chunlong Zhang Wei Li |
| author_facet | Hang Zhou Jin Gao Fan Zhang Junxiong Zhang Song Wang Chunlong Zhang Wei Li |
| author_sort | Hang Zhou |
| collection | DOAJ |
| description | Natural rubber is a crucial raw material in modern society. However, the process of latex acquisition has long depended on manual cutting operations. The mechanization and automation of rubber-tapping activities is a promising field. Rubber-tapping operations rely on the horizontal cutting of the leading edge and vertical stripping of the secondary edge. Nevertheless, variations in the impact acceleration of the blade can lead to changes in the continuity of the chip, affecting the stability of the cut. In this study, an inertial measurement unit (IMU) and a robotic arm were combined to achieve the real-time sensing of the blade’s posture and position. The accelerations of the blade were measured at 21 interpolated points in the optimized cutting trajectory based on the principle of temporal synchronization. A multiple regression model was used to establish a link between impact acceleration and chip characteristics to evaluate cutting stability. The R-squared value for the regression equation was 0.976, while the correlation analysis for the R-squared and root mean square error (RMSE) values yielded 0.977 and 0.0766 mm, respectively. The correlation coefficient for the <i>Z</i>-axis was the highest among the three axes, at 0.22937. Strict control of blade chatter in the radial direction is necessary to improve the stability of the cut. This study provides theoretical support and operational reference for subsequent work on end-effector improvement and motion control. The optimized robotic system for rubber tapping can contribute to accelerating the mechanization of latex harvesting. |
| first_indexed | 2024-03-11T07:04:52Z |
| format | Article |
| id | doaj.art-a47a49528f734277907d5d1487a16a50 |
| institution | Directory Open Access Journal |
| issn | 2077-0472 |
| language | English |
| last_indexed | 2024-03-11T07:04:52Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agriculture |
| spelling | doaj.art-a47a49528f734277907d5d1487a16a502023-11-17T09:00:31ZengMDPI AGAgriculture2077-04722023-02-0113358310.3390/agriculture13030583Evaluation of Cutting Stability of a Natural-Rubber-Tapping RobotHang Zhou0Jin Gao1Fan Zhang2Junxiong Zhang3Song Wang4Chunlong Zhang5Wei Li6College of Engineering, China Agricultural University, Qinghua Rd. (E) No. 17, Haidian District, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Qinghua Rd. (E) No. 17, Haidian District, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Qinghua Rd. (E) No. 17, Haidian District, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Qinghua Rd. (E) No. 17, Haidian District, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Qinghua Rd. (E) No. 17, Haidian District, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Qinghua Rd. (E) No. 17, Haidian District, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Qinghua Rd. (E) No. 17, Haidian District, Beijing 100083, ChinaNatural rubber is a crucial raw material in modern society. However, the process of latex acquisition has long depended on manual cutting operations. The mechanization and automation of rubber-tapping activities is a promising field. Rubber-tapping operations rely on the horizontal cutting of the leading edge and vertical stripping of the secondary edge. Nevertheless, variations in the impact acceleration of the blade can lead to changes in the continuity of the chip, affecting the stability of the cut. In this study, an inertial measurement unit (IMU) and a robotic arm were combined to achieve the real-time sensing of the blade’s posture and position. The accelerations of the blade were measured at 21 interpolated points in the optimized cutting trajectory based on the principle of temporal synchronization. A multiple regression model was used to establish a link between impact acceleration and chip characteristics to evaluate cutting stability. The R-squared value for the regression equation was 0.976, while the correlation analysis for the R-squared and root mean square error (RMSE) values yielded 0.977 and 0.0766 mm, respectively. The correlation coefficient for the <i>Z</i>-axis was the highest among the three axes, at 0.22937. Strict control of blade chatter in the radial direction is necessary to improve the stability of the cut. This study provides theoretical support and operational reference for subsequent work on end-effector improvement and motion control. The optimized robotic system for rubber tapping can contribute to accelerating the mechanization of latex harvesting.https://www.mdpi.com/2077-0472/13/3/583rubbercuttingdata fusioncollisionacceleration |
| spellingShingle | Hang Zhou Jin Gao Fan Zhang Junxiong Zhang Song Wang Chunlong Zhang Wei Li Evaluation of Cutting Stability of a Natural-Rubber-Tapping Robot Agriculture rubber cutting data fusion collision acceleration |
| title | Evaluation of Cutting Stability of a Natural-Rubber-Tapping Robot |
| title_full | Evaluation of Cutting Stability of a Natural-Rubber-Tapping Robot |
| title_fullStr | Evaluation of Cutting Stability of a Natural-Rubber-Tapping Robot |
| title_full_unstemmed | Evaluation of Cutting Stability of a Natural-Rubber-Tapping Robot |
| title_short | Evaluation of Cutting Stability of a Natural-Rubber-Tapping Robot |
| title_sort | evaluation of cutting stability of a natural rubber tapping robot |
| topic | rubber cutting data fusion collision acceleration |
| url | https://www.mdpi.com/2077-0472/13/3/583 |
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