Robotväeturi jaotustoru külgnihuti projekt
Laen...
Kuupäev
2026
Kättesaadavus
09.09.2026
Autorid
Ajakirja pealkiri
Ajakirja ISSN
Köite pealkiri
Kirjastaja
Eesti Maaülikool
Abstrakt
Mineraalväetiste ülekasutus koormab keskkonda, mistõttu täppisväetamine, kus väetiseannus suunatakse iga taime juurestiku piirkonda, muutub üha olulisemaks. Eesti Maaülikoolis arendatav robotväetur kasutas annustamisotsiku positsioneerimiseks xArm6 robotmanipulaatorit, mis ei sobinud põllutingimustesse. Töö eesmärk oli projekteerida, valmistada ja katsetada külgnihuti prototüüpi, mis asendab xArm6 kaheteljelise Igus ajamiga. Külgnihuti projekteeriti kahes etapis, valmistati prototüübina ja paigaldati robotväeturile ning lahenduste liikumiskiirust võrreldi katseliselt. xArm6 keskmine sooritusaeg oli 1,27 s ja Igus ajamil 3,21 s, kuid Igus ajami ühesuunaline liikumisaeg mahub rakenduse reageerimisaknasse. Töö tulemusena valmis töötav prototüüp, mis täidab eesmärgi ja kõrvaldab esimese lahenduse kinemaatilise piirangu. Peamised edasiarendused on konstruktsiooni jäikuse parandamine ja külgnihuti autonoomse juhtimisega integreerimine.
The overuse of mineral fertilizers burdens the environment, which is why precision fertilization, in which the fertilizer dose is directed to the root zone of each plant, is becoming increasingly important. The fertilizer robot under development at the Estonian University of Life Sciences used an xArm6 robotic manipulator to position the dosing nozzle, but this manipulator was not suited to field conditions. The aim of this work was to design, manufacture and test a lateral shifter prototype that replaces the xArm6 with a two-axis igus actuator. The lateral shifter was designed in two stages, manufactured as a prototype and installed on the fertilizer robot, after which the movement speeds of the two solutions were compared experimentally. The average execution time of the xArm6 was 1.27 s and that of the igus actuator 3.21 s, but the one-way travel time of the igus actuator falls within the application's response window. The work resulted in a functioning prototype that fulfils the aim and eliminates the kinematic limitation of the first solution. The main areas for further development are improving the structural rigidity and integrating the lateral shifter with autonomous control.
The overuse of mineral fertilizers burdens the environment, which is why precision fertilization, in which the fertilizer dose is directed to the root zone of each plant, is becoming increasingly important. The fertilizer robot under development at the Estonian University of Life Sciences used an xArm6 robotic manipulator to position the dosing nozzle, but this manipulator was not suited to field conditions. The aim of this work was to design, manufacture and test a lateral shifter prototype that replaces the xArm6 with a two-axis igus actuator. The lateral shifter was designed in two stages, manufactured as a prototype and installed on the fertilizer robot, after which the movement speeds of the two solutions were compared experimentally. The average execution time of the xArm6 was 1.27 s and that of the igus actuator 3.21 s, but the one-way travel time of the igus actuator falls within the application's response window. The work resulted in a functioning prototype that fulfils the aim and eliminates the kinematic limitation of the first solution. The main areas for further development are improving the structural rigidity and integrating the lateral shifter with autonomous control.
Kirjeldus
Rakenduskõrgharidusõppe lõputöö
Tehnotroonika õppekaval
Märksõnad
lõputööd, täppisväetamine, põllundusrobot, kaheteljeline ajam, kinnituskonstruktsioon