Development and Control of a Suitable Robotic Manipulator for Wash Root Paddy Nursery
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Date
2023
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Punjab Agricultural University
Abstract
The study aimed to develop a robotic manipulator for the singulation and transplanting of seedlings from a bunch of wash-root paddy nursery. Previous attempts to develop mechanical transplanters for wash root paddy nursery faced challenges, leading to the exploration of robotic systems for seedling singulation. To develop robotic manipulator, study was conducted to determine physical and mechanical properties of wash root seedlings at different growth stages for consecutively two years in 2020-21 and 2021-22. The collected data was used in the development of the robotic manipulator and different electro-mechanical mechanisms used for seedling segregation and conveying. During the evaluation phase, the electro-mechanical mechanisms showed inadequate segregation from the bunch of wash-root seedlings. Modifications were made in the robotic manipulator’s design, enhancing its arm reach and end-effector design to achieve the desired functionality. The approach to program the robotic manipulator for pre-specified positions instead of image processing technique was considered for more flexibility and adaptability in segregating the wash-root seedlings. The Jetson Nano microprocessor was utilized for control and coordination, enabling execution of the manipulator’s operations. A forward kinematic analysis using the standard Denavit-Hartenberg (D-H) algorithm and RoboAnalyzer software were used for the control of robotic manipulator. Python language was used for the programming to control the manipulator’s actions and interactions with the wash-root seedlings in tray. Seedling height ranged from 153.3 mm (PR-121 variety) to 553.4 mm (PB-1125 variety) across different ages and varieties. PB-1125 variety is the longest variety, and PB-121 variety is the shortest variety amongst all four varieties selected for the study. Cross-sectional area of the wash-root seedlings varied from 3.63 mm2 (PB-1509 variety) to 9.46 mm2 (PB-1125 variety). Average tensile force and compressive force varied 6.72-26.53 N and 5.74- 14.74 N respectively for all 3 varieties and 3 growth stages of the seedlings. During the evaluation of robotic manipulator, the minimum percentage of cycles i.e., 15.33% missing the seedlings were observed for the washed seedlings of varieties PB-1121 and PB-1509 at the age of 30 DAS. It was concluded that average seedlings picked per cycle varied in the range of 1.45 to 1.88 with highest seedlings picked at 25 DAS and lowest picking was of seedlings at 35 DAS. Data analysis showed that the percentage of more than 3 seedlings picked per cycle varied in the range of 10.00-20.67% with the highest percentage was observed at 25 DAS of the seedlings and lowest percentage was recorded for seedlings aged 35 DAS. Overall, the performance of developed robotic manipulator was better for the seedlings of all the selected varieties at the age of 35 DAS.
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Jaideep (2023). Development and Control of a Suitable Robotic Manipulator for Wash Root Paddy Nursery (Unpublished Ph.D. Dissertation). Punjab Agricultural University, Ludhiana, Punjab, India.