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http://bura.brunel.ac.uk/handle/2438/24417| Title: | A Novel Two-Degree-of-Freedom Gimbal for Dynamic Laser Weeding: Design, Analysis and Experimentation |
| Authors: | Wang, M Leal-Naranjo, J-A Ceccarelli, M Blackmore, S |
| Keywords: | parallel mechanism design;laser weeding;dynamic intra-row weeding;performance analysis |
| Issue Date: | 17-May-2022 |
| Publisher: | IEEE |
| Citation: | Wang, M. et al. (2022) 'A Novel Two-Degree-of-Freedom Gimbal for Dynamic Laser Weeding: Design, Analysis and Experimentation', IEEE-ASME Transactions on Mechatronics, 27 (6) pp. 5016 - 5026. doi: 10.1109/TMECH.2022.3169593. |
| Abstract: | Copyright © 2022 the author(s). Current robotic laser weeding systems mostly rely on serial mechanisms with one or two actuated axes, which can barely meet the requirements of high precision and dynamic performances. In this article, a novel laser weeding gimbal is proposed based on a two-degree-of-freedom 5-revolute rotational parallel manipulator to perform a dynamic intrarow laser weeding operation. Comprehensive analyses consisting of kinematics, workspace, singularity, and dynamics are carried out to evaluate the performance of the proposed design. Finally, experimental tests were conducted both in lab and field environments and the results are provided, in which the positioning accuracy has been evaluated as in average errors of 0.62 mm in position at the distance of 535 mm, and the dynamic weeding efficiency is around 0.72 s/weed with a dwell time of 0.64 s at the tracking speed of 0.1 m/s. The effectiveness of the proposed dynamic intrarow weeding mechanism has been evaluated in a real field trial. |
| URI: | https://bura.brunel.ac.uk/handle/2438/24417 |
| DOI: | https://doi.org/10.1109/TMECH.2022.3169593 |
| ISSN: | 1083-4435 |
| Other Identifiers: | ORCID iDs: Mingfeng Wang https://orcid.org/0000-0001-6551-0325; José-Alfredo Leal-Naranjo https://orcid.org/0000-0001-5470-6066; Marco Ceccarelli https://orcid.org/0000-0001-9388-4391. |
| Appears in Collections: | Dept of Mechanical and Aerospace Engineering Research Papers |
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| File | Description | Size | Format | |
|---|---|---|---|---|
| FullText.pdf | Copyright © 2022 the author(s). IEEE is not the copyright holder of this material. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ | 11.15 MB | Adobe PDF | View/Open |
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