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Authors
Abstract(s)
Cada vez mais a agricultura carece de mão-de-obra, devido ao êxodo das zonas rurais
para as zonas urbanas, aliada a um crescente envelhecimento da população mundial.
Como o setor agrícola é fundamental à subsistência de todos, não pode parar, a
introdução da robótica em determinadas atividades como a colheita de frutos, controlo
de infestantes, monitorização, poda, pulverização, manuseamento de solos, navegação
autónoma, entre outras, é vista como um contributo da tecnologia a este setor.
Na presente dissertação apresenta-se o dimensionamento assim como todas as fases de
construção de uma garra robótica desenvolvida para a recolha de frutos caídos no chão
de um pomar. Esta atividade visa contribuir para a redução da perda alimentar por via
da economia circular, podendo estes frutos caídos serem usados para alimentação
animal. Por outro lado, a sua recuperação reduz a potencial carga microbiana e de
insetos, e consequentemente nas doenças e pragas que podem ter origem nessa perda,
na campanha seguinte.
O protótipo foi projetado para ser acoplado ao manipulador cartesiano da plataforma
robótica, o que requereu uma análise ao envelope de trabalho do manipulador a fim de
determinar os requisitos dimensionais máximos da garra. Mediante os vários aspetos
recolhidos sobre as várias garras robóticas expostas na revisão bibliográfica, foi
elaborada uma matriz de decisão, de forma avaliar quais as especificações técnicas mais
relevantes para a garra robótica. A garra foi modelada tridimensionalmente por via de
desenho assistido por computador que permitiu gerar o modelo destinado à impressão
3D por deposição de material fundido, neste caso PLA, utilizada na construção do
protótipo. O controlo e comando da garra residiu num microcontrolador da família
Arduino, no qual se encontravam ligados os sensores relativos aos limites do envelope
de trabalho, pinos de comando do movimento, e os servos motores e motores DC que
procederam à movimentação da garra.
Foram realizados ensaios experimentais para avaliar o desempenho da garra na recolha
de frutos, dependendo da inclinação da plataforma robótica, em duas posições de recolha
de frutos (central e lateral). Face aos resultados obtidos, verifica-se que a garra
desenvolvida cumpre os objetivos para os quais foi desenvolvida.
Agriculture is increasingly lacking in labor due to the exodus from rural to urban areas, combined with an increasing aging of the world's population. Despite this reduction in human resources, the agricultural sector is essential to the survival of the humanity and therefore cannot stop. The introduction of robotics in certain activities such as fruit harvesting, weed control, monitoring, pruning, spraying, soil handling, autonomous navigation, among others, is seen as a contribution of technology to this sector. This dissertation presents the design as well as all the construction phases of a robotic claw developed for collecting fallen fruits on the ground around orchards. This activity aims to contribute to the reduction of food loss through the circular economy, as these fallen fruits can be used for animal feed. On the other hand, its recovery and removal from the fields, reduces the diseases and pests, as insect and bacteria use these fruits as growing grounds. This reduction in the spread of pests and diseases will reduce losses in the following season. The prototype was designed to be coupled in a robotic platform's Cartesian manipulator, which required an analysis of the manipulator's working envelope to determine the maximum dimensional requirements of the grip. Through the various aspects collected about the various robotic claws exposed in the literature review, a decision matrix was created to decide which technical specifications are most relevant for the robotic claw. The claw was modeled three-dimensionally using computer-assisted design, which allowed for the generation of the model for 3D printing by deposition of molten thermoplastics, in this case, PLA, used in the construction of the prototype. The control and command of the claw were done via a microcontroller of the Arduino family, to which the sensors for the limits of the work envelope, movement command pins, and the servo motors and DC motors that carried out the movement of the claw were connected. Experimental tests were carried out to evaluate the performance of the claw in picking fruit, depending on the inclination of the robotic platform, in two positions for collecting the fruit (central and lateral). In view of the results obtained, it appears that the developed claw fulfills the objectives for which it was developed.
Agriculture is increasingly lacking in labor due to the exodus from rural to urban areas, combined with an increasing aging of the world's population. Despite this reduction in human resources, the agricultural sector is essential to the survival of the humanity and therefore cannot stop. The introduction of robotics in certain activities such as fruit harvesting, weed control, monitoring, pruning, spraying, soil handling, autonomous navigation, among others, is seen as a contribution of technology to this sector. This dissertation presents the design as well as all the construction phases of a robotic claw developed for collecting fallen fruits on the ground around orchards. This activity aims to contribute to the reduction of food loss through the circular economy, as these fallen fruits can be used for animal feed. On the other hand, its recovery and removal from the fields, reduces the diseases and pests, as insect and bacteria use these fruits as growing grounds. This reduction in the spread of pests and diseases will reduce losses in the following season. The prototype was designed to be coupled in a robotic platform's Cartesian manipulator, which required an analysis of the manipulator's working envelope to determine the maximum dimensional requirements of the grip. Through the various aspects collected about the various robotic claws exposed in the literature review, a decision matrix was created to decide which technical specifications are most relevant for the robotic claw. The claw was modeled three-dimensionally using computer-assisted design, which allowed for the generation of the model for 3D printing by deposition of molten thermoplastics, in this case, PLA, used in the construction of the prototype. The control and command of the claw were done via a microcontroller of the Arduino family, to which the sensors for the limits of the work envelope, movement command pins, and the servo motors and DC motors that carried out the movement of the claw were connected. Experimental tests were carried out to evaluate the performance of the claw in picking fruit, depending on the inclination of the robotic platform, in two positions for collecting the fruit (central and lateral). In view of the results obtained, it appears that the developed claw fulfills the objectives for which it was developed.
Description
Keywords
Agricultura Braço Robótico Cartesiano Garra Robótica Impressão 3d Recolha de Frutos Robótica