Kinematics analysis for five DOF fresh fruit bunch harvester
The existing mechanized oil palm harvester is claimed to be unsuccessful due to its inefficiency to harvest Fresh Fruit Bunch (FFB). It takes a lot of time compared to the conventional harvesting method, using human power. Therefore a study was carried out using Denavit and Hartenberg (D-H) approa...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Chinese Academy of Agricultural Engineering
2010
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| Online Access: | http://psasir.upm.edu.my/id/eprint/15387/1/Kinematics%20analysis%20for%20five%20DOF%20fresh%20fruit%20bunch%20harvester.pdf |
| _version_ | 1825945611285823488 |
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| author | James Jayaselan, Helena Anusia Wan Ismail, Wan Ishak |
| author_facet | James Jayaselan, Helena Anusia Wan Ismail, Wan Ishak |
| author_sort | James Jayaselan, Helena Anusia |
| collection | UPM |
| description | The existing mechanized oil palm harvester is claimed to be unsuccessful due to its inefficiency to harvest Fresh Fruit Bunch (FFB). It takes a lot of time compared to the conventional harvesting method, using human power. Therefore a study was carried out using Denavit and Hartenberg (D-H) approach to automate the five Degrees of Freedom (DOF) harvester manipulator. The general objective was to reduce the number of workers required for harvesting as well as to provide comfortable ergonomic for the operator of oil palm harvester. The D-H’s convention was used for selecting frames of reference in robotics application which has become the standard way of representing robots and modeling their motions. In this study, the forward kinematics and inverse kinematics were used to deduce joint angles variables while the conventional Jacobian was used for motion velocity computation. The formulated inverse equations were tested manually on the harvester with given locations to obtain deduced joint angles. The results were θ1=129.64°, θ3=180°, θ4=90°, which were quite accurate. Thus, the kinematics analysis of harvester arm automation was done successfully. |
| first_indexed | 2024-03-06T07:34:11Z |
| format | Article |
| id | upm.eprints-15387 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T07:34:11Z |
| publishDate | 2010 |
| publisher | Chinese Academy of Agricultural Engineering |
| record_format | dspace |
| spelling | upm.eprints-153872019-07-08T07:32:22Z http://psasir.upm.edu.my/id/eprint/15387/ Kinematics analysis for five DOF fresh fruit bunch harvester James Jayaselan, Helena Anusia Wan Ismail, Wan Ishak The existing mechanized oil palm harvester is claimed to be unsuccessful due to its inefficiency to harvest Fresh Fruit Bunch (FFB). It takes a lot of time compared to the conventional harvesting method, using human power. Therefore a study was carried out using Denavit and Hartenberg (D-H) approach to automate the five Degrees of Freedom (DOF) harvester manipulator. The general objective was to reduce the number of workers required for harvesting as well as to provide comfortable ergonomic for the operator of oil palm harvester. The D-H’s convention was used for selecting frames of reference in robotics application which has become the standard way of representing robots and modeling their motions. In this study, the forward kinematics and inverse kinematics were used to deduce joint angles variables while the conventional Jacobian was used for motion velocity computation. The formulated inverse equations were tested manually on the harvester with given locations to obtain deduced joint angles. The results were θ1=129.64°, θ3=180°, θ4=90°, which were quite accurate. Thus, the kinematics analysis of harvester arm automation was done successfully. Chinese Academy of Agricultural Engineering 2010 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/15387/1/Kinematics%20analysis%20for%20five%20DOF%20fresh%20fruit%20bunch%20harvester.pdf James Jayaselan, Helena Anusia and Wan Ismail, Wan Ishak (2010) Kinematics analysis for five DOF fresh fruit bunch harvester. International Journal of Agricultural and Biological Engineering, 3 (3). pp. 1-7. ISSN 1934-6344; ESSN: 1934-6352 https://ijabe.org/index.php/ijabe/article/view/226 10.3965/j.issn.1934-6344.2010.03.001-007 |
| spellingShingle | James Jayaselan, Helena Anusia Wan Ismail, Wan Ishak Kinematics analysis for five DOF fresh fruit bunch harvester |
| title | Kinematics analysis for five DOF fresh fruit bunch harvester |
| title_full | Kinematics analysis for five DOF fresh fruit bunch harvester |
| title_fullStr | Kinematics analysis for five DOF fresh fruit bunch harvester |
| title_full_unstemmed | Kinematics analysis for five DOF fresh fruit bunch harvester |
| title_short | Kinematics analysis for five DOF fresh fruit bunch harvester |
| title_sort | kinematics analysis for five dof fresh fruit bunch harvester |
| url | http://psasir.upm.edu.my/id/eprint/15387/1/Kinematics%20analysis%20for%20five%20DOF%20fresh%20fruit%20bunch%20harvester.pdf |
| work_keys_str_mv | AT jamesjayaselanhelenaanusia kinematicsanalysisforfivedoffreshfruitbunchharvester AT wanismailwanishak kinematicsanalysisforfivedoffreshfruitbunchharvester |