Examinando por Materia "Robot para agricultura"
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- PublicaciónAcceso abiertoRobot paralelo comandado por cables para la automatización de un cultivo de hortalizas(Universidad de Ibagué., 2019) Arias Vasquez, Andrés Mauricio; Garcia Vanegas, Jorge AndrésA Cable Operated Parallel Robot (RPCC) is a conventional parallel mechanism whose rigid arms cables have replaced. These are wound onto a drum or coil anchored to the motors, which when driven varies the length of the cables causing the end-effector to position and orient within the workspace. These robots are lighter, stiffer and more economical compared to traditional parallel robots. The assembly and transport of their structure is simpler and they have the capacity to support more weight. A major disadvantage is that the cables can only exert tension but not push the effector, therefore, the modeling, workspace analysis and design of these robots differs from convention alones. The control and design of these robots has attracted the attention of many research groups duet their potential in industrial applications, as they can serve similar purposes to traditional parallel robots, but with the advantage that they can work in larger spaces. This research assistance develops the modeling and construction of an RPCC for the process of planting, irrigation and monitoring of vegetable crops at the University of Ibagué. This proposal is part of the collaborative work between the University of Ibagué and the University of Castilla-La Mancha, being the continuity of the research assistance of Assistant Manuel Alejandro Morales Castaño, in a joint work, directly a research proposal for the incursion of parallel robotics led by cables in agriculture.
- PublicaciónAcceso abiertoSistema de control y comunicación de una plataforma móvil robotizada para la prueba de efectores finales en cultivos a pequeña escala.(Universidad de Ibagué, 2019) Zambrano Cortes, Helman Daniel; García Vanegas, Jorge AndrésIn this work the design and construction of hardware and software for a robotic mobile platform whose purpose is to perform the planting, watering and monitoring of small-scale vegetable crops. A control and communication system was designed and implemented; a PID type closed loop controller was implemented for the semi-autonomous navigation system, a communication system using a private network for access to the robot and communication peripherals for manual operation. The results were a robot for the application in the agriculture of low economic cost that contains a system for the monitoring of the vegetables. Finally, it is concluded that the system can be used in closed environments where it can dose 100 plants and deposit 50g of seeds.