Kinematics and Dynamics of a Fabricated Wire Driven Flexible Robot and Experimental Evaluation of that in Fruits Picking
Subject Areas :
Keywords: Euler-Bernoulli beam, Control system, Dynamic Model, Flexible robot, kinematic model,
Abstract :
Mohammad Gohari 1 Mona Tahmasebi 2 * -Mohammadreza Zare31- Assistant Professor, Faculty of Mechanical Engineering, Arak University of Technology, Arak, Iran2- - Assistant Professor, Agricultural Engineering Research Department, Markazi Agricultural and Natural Resources Research and Education Center, Agricultural Research, Education and Extension Organization (AREEO),Arak, Iran3- Master Student in Mechatronic, University of Besançon, Bourgogne-Franche-Comté, France*Coresponding author: tahmasebi.mona@gmail.com AbstractRobot applications are developed by IoT, telemetry, and human requirements in boring or precision jobs such as surgery, industrial inspections, field monitoring in army applications, or agriculture harvesting. Researchers for different tasks design various robots. Flexible robots are established based on mentioned applications because they can adapt their geometry to the working conditions. The current study introduced a wire-driven flexible robot inspired by animal trunks. It can move in planar and space based on its structure. Firstly, a kinematic model was established to predict the end effector position, and then a dynamic model was developed to calculate the required tension of the tendon based on bending beam theory. A test rig was developed to evaluate acquired models. The results show good agreement between test results and outputs of models. The correlation ratio between actual values in positioning and predicted by models is 0.97. Thus, dynamic and kinematic models can be used in the design of controllers in future works. Finally, experimental evaluation on fruit picking shows that this robot can pick various peaches and figs in different sizes. The required forces for picking in figs is lower than peach. Oppositely, picking sequential steps in fig harvesting is lower than peach. In future works, an automatic controller will introduce for this WDFR. Keywords: wire-driven flexible robot, dynamic model, kinematic model, Euler-Bernoulli Beam theory, controller system
_||_