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Please use this identifier to cite or link to this item: http://bura.brunel.ac.uk/handle/2438/24417
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dc.contributor.authorWang, M-
dc.contributor.authorLeal-Naranjo, J-A-
dc.contributor.authorCeccarelli, M-
dc.contributor.authorBlackmore, S-
dc.date.accessioned2022-04-08T15:31:58Z-
dc.date.available2022-04-08T15:31:58Z-
dc.date.issued2022-05-17-
dc.identifierORCID 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.-
dc.identifier.citationWang, 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.en_US
dc.identifier.issn1083-4435-
dc.identifier.urihttps://bura.brunel.ac.uk/handle/2438/24417-
dc.description.abstractCopyright © 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.-
dc.description.sponsorshipInnovate U.K. (Grant Number: 101817, Hyperweeding project).en_US
dc.format.extent5016 - 5026 (11)-
dc.format.mediumPrint-Electronic-
dc.language.isoen_USen_US
dc.publisherIEEEen_US
dc.rightsCopyright © 2022 the author(s). This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see http://creativecommons.org/licenses/by/4.0/-
dc.rightsCopyright © 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/-
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/-
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/-
dc.subjectparallel mechanism designen_US
dc.subjectlaser weedingen_US
dc.subjectdynamic intra-row weedingen_US
dc.subjectperformance analysisen_US
dc.titleA Novel Two-Degree-of-Freedom Gimbal for Dynamic Laser Weeding: Design, Analysis and Experimentationen_US
dc.typeArticleen_US
dc.identifier.doihttps://doi.org/10.1109/TMECH.2022.3169593-
dc.relation.isPartOfIEEE-ASME Transactions on Mechatronics-
pubs.publication-statusPublished-
dc.identifier.eissn1941-014X-
dc.rights.holderThe author(s)-
Appears in Collections:Dept of Mechanical and Aerospace Engineering Research Papers

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