Open AccessLow Cost Robotic Manipulator for Family Agriculture
Author(s) -
Marcia Regina Maboni Hoppen Pörsch,
Luiz Antônio Rasia,
Nelson José Thesing,
Patrícia Carolina Pedrali,
Antônio Carlos Valdiero
Publication year - 2019
Publication title -
journal of agricultural studies
Language(s) - English
Resource type - Journals
ISSN - 2166-0379
DOI - 10.5296/jas.v7i4.15369
Subject(s) - workbench , automation , control engineering , robot , agriculture , greenhouse , actuator , control (management) , servomotor , engineering , computer science , artificial intelligence , mechanical engineering , ecology , horticulture , visualization , biology
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.