Design and Testing of a Kiwifruit Harvester End-Effector

2018 ◽  
Vol 61 (1) ◽  
pp. 45-51 ◽  
Author(s):  
Sean S. Graham ◽  
Wangyuan Zong ◽  
Jun Feng ◽  
Shengping Tang

Abstract. Mechanisms to aid fruit harvesting are undergoing constant development with increasing available technologies. However, fruits grown on vines, such as kiwifruit, have complex tree architectures and present difficulties in confirming design parameters. The objective of this research was to develop an end-effector for a kiwifruit harvester based on integrating the physical characteristics of the fruit, such as stem length, the space between mature fruits, and the growing environment provided by a trellised system into the design. These properties contribute to developing a mechanism that is lightweight, battery operated, and requires only one translational joint for positioning. Scissor cutting actuated by a linear solenoid is used to provide the required torque of 1.38 Nm to completely sever Hayward variety kiwifruit at the stem using a curved blade with a 20° relief angle. The cutting of the stem is actuated by a force sensor located on the device that enables cutting at less than 10 N, preventing premature detachment of the fruit and damage to the vine. The cutting time was measured to be 0.1 s ±0.03 s per cut. This end-effector design adds to the body of research aimed at developing a fully mechanized kiwifruit harvester. Keywords: Detachment force, End-effector, Fruit harvester, Kiwifruit, Linear solenoid.

Author(s):  
Kiona Hagen Niehaus ◽  
Rebecca Fiebrink

This paper describes the process of developing a software tool for digital artistic exploration of 3D human figures. Previously available software for modeling mesh-based 3D human figures restricts user output based on normative assumptions about the form that a body might take, particularly in terms of gender, race, and disability status, which are reinforced by ubiquitous use of range-limited sliders mapped to singular high-level design parameters. CreatorCustom, the software prototype created during this research, is designed to foreground an exploratory approach to modeling 3D human bodies, treating the digital body as a sculptural landscape rather than a presupposed form for rote technical representation. Building on prior research into serendipity in Human-Computer Interaction and 3D modeling systems for users at various levels of proficiency, among other areas, this research comprises two qualitative studies and investigation of the impact on the first author's artistic practice. Study 1 uses interviews and practice sessions to explore the practices of six queer artists working with the body and the language, materials, and actions they use in their practice; these then informed the design of the software tool. Study 2 investigates the usability, creativity support, and bodily implications of the software when used by thirteen artists in a workshop. These studies reveal the importance of exploration and unexpectedness in artistic practice, and a desire for experimental digital approaches to the human form.


2021 ◽  
Author(s):  
Domenico Tommasino ◽  
Matteo Bottin ◽  
Giulio Cipriani ◽  
Alberto Doria ◽  
Giulio Rosati

Abstract In robotics the risk of collisions is present both in industrial applications and in remote handling. If a collision occurs, the impact may damage both the robot and external equipment, which may result in successive imprecise robot tasks or line stops, reducing robot efficiency. As a result, appropriate collision avoidance algorithms should be used or, if it is not possible, the robot must be able to react to impacts reducing the contact forces. For this purpose, this paper focuses on the development of a special end-effector that can withstand impacts and is able to protect the robot from impulsive forces. The novel end-effector is based on a bi-stable mechanism that decouples the dynamics of the end-effector from the dynamics of the robot. The intrinsically non-linear behavior of the end-effector is investigated with the aid of numerical simulations. The effect of design parameters and the operating conditions are analyzed and the interaction between the functioning of the bi-stable mechanism and the control system is studied. In particular, the effect of the mechanism in different scenarios characterized by different robot velocities is shown. Results of numerical simulations assess the validity of the proposed end-effector, which can lead to large reductions in impact forces.


Author(s):  
Daniel R. McArthur ◽  
Arindam B. Chowdhury ◽  
David J. Cappelleri

This paper presents the design of the Interacting-BoomCopter (I-BoomCopter) unmanned aerial vehicle (UAV) for mounting a remote sensor package on a vertical surface. Critical to the design is the novel, custom, light-weight passive end-effector. The end-effector has a forward-facing sonar sensor and in-line force sensor to enable autonomous sensor mounting tasks. The I-BoomCopter’s front boom is equipped with a horizontally-mounted propeller which can provide forward and reverse thrust with zero roll and pitch angles. The design and modeling of the updated I-BoomCopter platform is presented along with prototype flight test results. A teleoperated wireless camera sensor mounting task examines the updated platform’s suitability for mounting remote sensor packages.


Author(s):  
Yuri I. Biba ◽  
Zheji Liu ◽  
D. Lee Hill

A complete effort to redesign the aerodynamic characteristics of a single-stage pipeline compressor is presented. The components addressed are the impeller, diffuser region, and the volute. The innovation of this effort stems from the simultaneous inclusion of both the noise and aerodynamic performance as primary design parameters. The final detailed flange-to-flange analysis of the new components clearly shows that the operating range is extended and the tonal noise driven by the impeller is reduced. This is accomplished without sacrificing the existing high efficiency of the baseline machine. The body of the design effort uses both Computational Fluid Dynamics (CFD) and vibro-acoustics technology. The predictions are anchored by using the flange-to-flange analysis of the original design and its experimental performance data. By calculating delta corrections and assuming that these deltas are approximately the same for the new design, the expected performance is extrapolated.


Author(s):  
S El Hraiech ◽  
AH Chebbi ◽  
Z Affi ◽  
L Romdhane

This work deals with the estimation and the sensitivity analysis of the 3-UPU parallel robot error. Based on the Newton–Euler formalism, the robot dynamic model is given in a closed form. This model is validated by the software ADAMS. Using the interval analysis method, a new algorithm is proposed, which estimates the errors in the motion of the end-effector and the errors in the actuator forces as a function of the design parameters uncertainties. The obtained results show that the kinematic errors are minimal at the workspace center. Moreover, these errors increase as the platform moves along the vertical axis. It is also shown that kinematic errors in the actuator joints are the most influential parameters on the manipulator accuracy. Therefore, using actuators with a higher accuracy can highly reduce the errors in motion of the platform.


Author(s):  
Steven B. Herschbein ◽  
Kyle M. Winter ◽  
Carmelo F. Scrudato ◽  
Brian L. Yates ◽  
Edward S. Hermann ◽  
...  

Abstract Focused Ion Beam (FIB) chip circuit editing is a well-established highly specialized laboratory technique for making direct changes to the functionality of integrated circuits. A precisely tuned and placed ion beam in conjunction with process gases selectively uncovers internal circuitry, create functional changes in devices or the copper wiring pattern, and reseals the chip surface. When executed within reasonable limits, the revised circuit logic functions essentially the same as if the changes were instead made to the photomasks used to fabricate the chip. The results of the intended revision, however, can be obtained weeks or months earlier than by a full fabrication run. Evaluating proposed changes through FIB modification rather than proceeding immediately to mask changes has become an integral part of the process for bringing advanced designs to market at many companies. The end product of the FIB process is the very essence of handcrafted prototyping. The efficacy of the FIB technique faces new challenges with every generation of fabrication process node advancement. Ever shrinking geometries and new material sets have always been a given as transistor size decreases and overall packing density increases. The biggest fundamental change in recent years was the introduction of the FinFET as a replacement for the venerable planar transistor. Point to point wiring change methodology has generally followed process scaling, but transistor deletions or modifications with the change to Fins require a somewhat different approach and much more careful control due to the drastic change in height and shape. We also had to take into consideration the importance of the 4th terminal, the body-tie, that is often lost in backside editing. Some designs and FET technology can function acceptably well when individual devices are no longer connected to the bulk substrate or well, while others can suffer from profound shifts in performance. All this presents a challenge given that the primary beam technology improvements of the fully configured chip edit FIB has only evolved incrementally during the same time period. The gallium column system appears to be reaching its maximum potential. Further, as gallium is a p-type metal dopant, there are limitations to its use in close proximity to certain active semiconductor devices. Amorphous material formation and other damage mechanisms that extend beyond what can be seen visually when endpointing must also be taken into account [1]. Device switching performance and even transmission line characteristics of nearby wiring levels can be impacted by material structural changes from implantation cascades. Last year our lab participated in a design validation exercise in which we were asked to modify the drive of a multi-finger FinFET device structure to reduce its switching speed impact on a circuit. The original sized device pulled the next node in the chain too fast, resulting in a timing upset. Deleting whole structures and bridging over/around them is commonly done, but modifications to the physical size of an FET device is a rare request and generally not attempted. It requires a level of precision in beam control and post-edit treatment that can be difficult to execute cleanly. Once again during a complex edit task we considered the use of an alternate ion beam species such as neon, or reducing the beam energy (low kV) on the gallium tool. Unfortunately, we don’t yet have easy access to a versatile viable replacement column technology grafted to a fully configured edit station. And while there should be significantly reduced implant damage and transistor functional change when a gallium column FIB is operated at lower accelerating potential [2], the further loss of visual acuity due to the reduced secondary emission, especially when combined with ultra-low beam currents, made fast and accurate navigation near impossible. We instead chose the somewhat unconventional approach of using an ultra-low voltage electron beam to do much of the navigation and surface marking prior to making the final edits with the gallium ion beam in a dual-beam FIB tool. Once we had resolved how to accurately navigate to the transistors in question and expose half of the structure without disturbing the body-tie, we were able to execute the required cut to trim away 50% of the structure and reduce the effective drive. Several of the FIB modified units functioned per the design parameters of a smaller sized device, giving confidence to proceed with the revised mask set. To our surprise, the gallium beam performed commendably well in this most difficult task. While we still believe that an inert beam of similar characteristics would be preferable, this work indicates that gallium columns are still viable at the 14 nm FinFET node for even the most rigorous of editing requirements. It also showed that careful application of e-beam imaging on the exposed underside of FinFET devices could be performed without degrading or destroying them.


2020 ◽  
Vol 6 (99) ◽  
pp. 45-58
Author(s):  
KONSTANTIN A. KHARAKHNIN ◽  
DENIS A. TERESHIN ◽  
DMITRY V. VAKHRAMEEV ◽  
PAVEL S. VAKHRAMEEV

The article considers the problem of the lack of methods for calculating and selecting design parameters when developing and implementing a fiber-optic force sensor (FOFS) as a separate element or component of the system. To solve this problem, we propose to develop a transform function of the power loss of the optical signal from the bending radius of the fiber under the action of applied forces, linking the features of the optical fiberand physico-mechanical parameters of the base on which the fiber is located. Based on the calculations performed, a variant of the FOFS prototype design is proposed.


2015 ◽  
Vol 137 (1) ◽  
Author(s):  
Karna Potwar ◽  
Jeffrey Ackerman ◽  
Justin Seipel

Carriage of heavy loads is common in developing countries and can impart large repetitive forces on the body that could lead to musculoskeletal fatigue and injury. Compliant bamboo poles have been used to carry heavy loads in Asia for generations and could be a low-cost, sustainable, and culturally acceptable way to minimize the forces acting on the body during load carriage. Experimental evidence of running with a 15 kg load suspended from a pair of compliant poly(vinyl chloride), or PVC, poles shows that the poles act as a vibration-isolating suspension, which can reduce the peak forces on the body during locomotion. However, it is currently not well-understood how to design and optimize poles for load carrying such that the peak forces on the body are minimized during carrying. Further, current users of bamboo poles do not have a reliable way to measure forces on the body and so cannot empirically optimize their poles for force reduction. Our objective is to determine the geometric and material design parameters that optimize bamboo poles for load carriage and to develop recommendations that could make it easier for load carriers to fabricate well-suited poles. Our approach is to synthesize a predictive model of walking and running from the field of biomechanics, which can predict the peak forces on the body as a function of pole stiffness, with a bending beam model of the bamboo pole that relates pole geometry and material to the effective pole stiffness. We first check our model's ability to predict the experimental results from a well-established study with PVC poles. We then extend the predictive design study to include a wider range of stiffness values and pole geometries that may be more effective and realistic for practical load carrying situations. Based on stiffness, deflection, strength, and pole mass design constraints, we specify an appropriate range of dimensions for selecting bamboo poles to carry a 15 kg load. The design methodology presented could simplify the selection and design of bamboo carrying poles in order to reduce the likelihood of musculoskeletal injury.


Author(s):  
Constantinos Mavroidis ◽  
Munshi Alam ◽  
Eric Lee

Abstract This paper studies the geometric design of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require the positioning of the end-effector in three spatial locations. This research is important in situations where a robotic manipulator or mechanism with a small number of joint degrees of freedom is designed to perform higher degree of freedom end-effector tasks. The loop-closure geometric equations provide eighteen design equations in eighteen unknowns. Polynomial Elimination techniques are used to solve these equations and obtain the manipulator Denavit and Hartenberg parameters. A sixth order polynomial is obtained in one of the design parameters. Only two of the six roots of the polynomial are real and they correspond to two different robot manipulators that can reach the desired end-effector poses.


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