It is very difficult to climb a coconut tree manually due to the structure and the contour of the tree. Introduction researchers all around the world work on climbing robots 1, 2, 3 most of these climbing robots are capable of climbing regular structures like poles, walls, domes etc. After comparing various tree climbing strategies for their pros and cons, a robot platform with a gait similar to that of an inchworm was chosen. This paper proposes a novel tree climbing robot named as shown in fig. So development of a unique tree climbing mechanism is. This paper focuses on designing a low cost coconut tree climbing and harvesting robot. The team used solidworks software to create a device that could climb a coconut tree and provide a single user interface for coconut harvesters, including a stable platform for future robotic attachments to perform tasks such as coconut harvesting, pesticide spraying, and pruning. This project focuses in the design of a tree climbing robot which is. It uses a gripping mechanism that was inspired by lumberjacks and uses a wheelbased driving system for vertical climbing.
After i got comfortable programming and building with an. Many trees like coconut tree, arecanut tree, and palm trees are so tall that climbing them becomes risky. The loops are put around the tree trunk on the opposite sides. With over five billion coconuts harvested every year, coconuts play a huge role in the economy of several regions and countries.
Farm machinery harvesting and threshing machineries. Development of automated coconut harvester prototype, this paper focuses on designing an automated tree climbing robot, tree robot which does not require human labour to accompany the device but only to control it from the ground using a remote control. Over time, his body has become accustomed to the barefoot. This pr oblem is challenging as the shape of tree is complex and irr egular. Design of a coconut tree climber a tree climbing mechanism is to be developed that can assist the farmers to climb and fetch coconuts from the tree. Robot has automatic and manual functions fully controlled by the enduser. Pdf a survey on robotic coconut tree climbers existing. Coconut is the most important fruit in the tropics for it gives precious water full of potassium and other minerals. Jan 23, 2011 coconut tree climbing robot that can pluck coconut. But the percentage of population taking up coconut plucking as their means of living is steadily decreasing. Design of climbing mechanism for a tree climbing robot. Bhargav joshi1, bhushan hurali2, prafful jain3, sanjay suthar4, uthej dalavai5 abstractprimary goal of the paper is to aid people in the design of a coconut tree climbing robot for the purpose of coconut harvesting. Today living in 21st century, still we have only manual coconut harvesting. Our robot is inspired by the inch worm mechanism for climbing the tree.
Media in category coconut tree climbing the following 20 files are in this category, out of 20 total. Karnataka farmer develops bike to climb arecanut trees. Lineartime path and motion planning algorithm for a tree. As the number of human coconut tree climbers is dwindling, there is a dire need for a robotic climber. Without human help working coconut tree climber machine invented by young engineers its working through the smart phone click here to free subscribe. One drawback of this mechanism is that they take much longer to climb a tree than human. Finally, the strength analysis is executed by means of catia. Coconut as tender coconut water, coconut gratings, coconut milk, coconut oil etc. The arm is designed to be a part of a coconut tree climbing robot. With social status becoming a major concern in todays world, the percentage of population taking up coconut plucking as their means of living is steadily decreasing. Tree climbing robot submitted in the partial fulfillment of the requirement for the award of.
Coconut is inseparable part of life of people of southern india particularly in the states of kerala and tamilnadu. Review ijirst volume 3 issue 09 020 and spraying pesticides. Design and fabrication of coconut tree climbing and harvesting robot. Autonomous coconut tree climbing robot is a solution for this. Semi automatic areca nut tree climbing and harvesting robot. Although many kinds of coconut tree climbing robots have been developed, none had the stability, speed or durability for commercial exploitation. Useful for climbing coconut trees for harvesting nuts, cleaning and other operations any unskilled person including ladies can climb the coconut trees using this unit requires 1. Implementation of cameras to cover unseen areas at top of the tree. Coconut tree climbing robot that can pluck coconut.
Design of a novel semiautomatic coconut tree climbing. Firstly, the structural composition and operational principal of this device is introduced. Find details of companies offering coconut tree climber at best price. In other type of trees there will be branches for holding and to support the climber. Although there are many existing tree the following paragraphs describe the modules which are used climbing robots, there are currently no robotic devices for climbing and harvesting coconut trees in specific. This system is so designed that it can be controlled by anyone. They have a handle at the top for hand grip and a pedal base at the bottom. Worcester polytechnic institute came up with a basic treeclimbing robot with a six legged design. Pdf robotic arm design for coconuttree climbing robot. Its climbing and fastening mechanism is designed to climb a pole of varying diameter. The pic microcontrollers are supported with to communicate with the pic, the file com. Development of a low cost coconut tree climber for small.
The applications and capabilities of the climbing robots differ according to their mechanical structure and design. The risk factor involved in climbing coconut trees is. After that, the finite element model of this device is established with catia. Endtoend coconut harvesting robot anhar risnumawan pens. The robotic arm is capable of a two axis rotational movement. The project design and fabrication of coconut tree climbing equipment is designed and erected. The kinematics and the motion of the robot are designed. The ergo refined coconut tree climbing device resulted in 20. Rise v2 is a wall climbing robot that imitates the movement of an insect, using six legs to maneuver.
The coconut climbing robot discussed in this paper is. Coconut tree climber machine 3d cad model library grabcad. The tree climbing coconut plucker is constructed using three major parts and they are as follows, tree climbing assembly arm sliding mechanism and coconut plucking element 2. This led me to thing up a new mechanism for the purpose. Design and fabrication of coconut harvesting robot. A wide variety of coconut tree climbing device options are available to you, there are 88 suppliers who sells coconut tree climbing device on, mainly located in asia. Pdf design and fabrication of coconut tree climbing and. In our effort to be selfsufficient, weve tried hard to learn the necessary skills to climb coconut trees. Hence harvesting fruits and nuts and maintaining them becomes difficult.
It also requires greater agility and high maneuverability to be used as a product. This manuscript deals with the design of a manipulator, with two unique modular endeffectors for the harvesting mechanism of a. Their invention was later demonstrated at the lemelsonmit programs 2008 eurekafest celebration. A novel robotic tree climbing mechanism with antifalling functionality for tree pruning article pdf available in journal of mechanisms and robotics 101 october 2017 with 1,8 reads. As coconut tree climbing is a tedious job robots can play a very good role in finding a permanent solution. Pdf a novel robotic tree climbing mechanism with anti.
The machine is built by following the natural phenomena present before us. A survey on robotic coconut tree climbers existing methods. As there is a usb camera already being used for realtime video transmission, it is decided to use the same camera for distance calculation. Coconut and coconut products have been in use for decades and have become an essential part of day to day life all around the globe. The coconut tree has a very ocular shape, as we go to the top of the tree the circumference of the. Design and fabrication of coconut tree climbing and harvesting. Automated coconut tree climber ieee conference publication. It can be used for spraying pesticides at the tops of tree which provides safety. The aim of this study is to present a novel semiautomatic coconut tree climbing device and. A coconut tree climbing robot is among five awards won by amiritha university students at a asia competition in singapore.
In this paper, we discuss various models for tree climbing and plucking. Without human help working coconut tree climber machine. Pdf coconut is inseparable part of life of people of southern india particularly in the states of kerala and tamilnadu. Low cost portable coconut harvester can be used with some additional features for removing unwanted dried branches of tree. In india prominent places of harvested are the states of tamil nadu, kerala and karnataka. Find the perfect coconut tree climbing stock photo. A survey on robotic coconut tree climbers existing methods and techniques. The aim of this study is to present a novel semiautomatic coconut tree climbing device and validate its strength based on actual working conditions. The goal of this project was to build a tree climbing robot.
An image processing technique used for building a robotic model to spray pesticide on the top of the coconut tree is discussed in 5. Swami climbing coconut tree coconut tree climber amature climbing easily duration. Machine works on timely gripping and release of the tree by the two metal wire ropes locked to the moving frame. This duo has invented a remotecontrolled robot that can. Our aims to develop a professional group of youths for harvesting and coconut plant protection operations.
Coconut husk is used in the coir industry to manufacture carpets, ropes and similar items. Design of a novel semiautomatic coconut tree climbing device. This duo has invented a remotecontrolled robot that can climb trees and pluck coconuts. Instead of adding new components, it is best to utilize the existing functionality of the components present on the robotic arm as much as possible. Also the bark of some trees may not be strong enough to bear the weight of the climbing device, hence conventional climbing robots cannot be used for tree climbing applications. It is very difficult to climb on coconut tree manually due to the constant cylindrical structure and single stem. One of the few specifically related devices we have found in our research is a climbing and harvesting device that aids in climbing a palm or coconut tree. So development of a unique tree climbing mechanism is necessary which may be used for maintaining and harvesting applications. The article comes complete with a video clip of it going up several different sur. The condition is worsen as the number of men climbing coconut trees has. Using solidworks software was an important key to the teams success.
Autonomous control and implementation of coconut tree. The primary goal was to design and build a robot that could successfully. While the coconut tree climbing robot won the best mechanical design award, a staircasecleaning robot. The computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users. Climbing robots should be able to deal with trees having difference surfaces and cross sections.
H ark robot is a coconut tree climbing robot prototype which is controlled remotely from the ground. Design and fabrication of coconut tree climbing and. Pdf development of a low cost coconut tree climber for. Goal of the project is to design an economic and reliable coconut tree climbing robot for farmers since it is very difficult to climb a coconut tree and harvest it manually due to its cylindrical structure and single stem. Although many kinds of coconut tree climbing robots have been developed, none had the stability, speed or durability for commercial exploita. After i got comfortable programming and building with an arduino, i decided to build a robot. Jun 08, 2008 inventeam project sponsored by mit as a team at troy we built an actual tree climbing robot and the vid is a solidworks rendition of the final model relatively simple concept. The entire robotic arm can be controlled by using a remote device mobile phone. Design of a novel semiautomatic coconut tree climbing device author. The palm climber consists of two metal loops that are meant for holding the legs. Many trees like coconut tree, areca nut tree, and palm trees are so tall that climbing them becomes risky. Linear time p ath and motion planning algorithm for a t ree climbing robot t reebot t in lun lam, guoqing xu, huihuan qian and y angsheng xu abstract this paper pr oposes a path and motion planning algorithm for a tree climbing pr oblem.
A fit, active adult or teenager can learn to climb small coconut trees with their bare hands. The anthropomorphic tree climbing robot has a simple configuration which has resulted in simple design and reduced complexity of control compared to the existing tree climbing robots. This paper is a study paper that deals with climbing robot particularly coconut tree climbing robots. A palm tree climbing robot has been designed, built and tested fig. The driving power source for this climbing robot is. Primary goal of the study is to design a coconut tree climbing device for farmers and residents.
Pdf autonomous control and implementation of coconut tree. This add to the system leads safety for coconut tree climber easy to handle. I did not have any particular type in mind, so i wracked my brain and the internet for cool robot ideas. Design of a coconut tree climber indian institute of. We have taken into account the safety, reliability, the ease of use which is capable of climbing trees, cutting down coconuts, cleaning. Yongfeng liu, jie gong, yanyun lin, fan zhang, hui huang, wen xia, yijun liu, yunfei fu subject. The driving power source for this climbing robot is pneumatic power. Who can take care your harvesting of coconut on a regular basis at affordable wages. Jun 07, 2017 design and fabrication of coconut tree climbing and harvesting robot.
Dtmf based, robotic arm design and control for robotic. Climbing a coconut tree is a tricky business, requiring at least some level of proficiency in climbing trees. This paper has taken into account of the safety, reliability and the ease of use. Moreover coconut tree climbing involves a lot of risk.
Oct 16, 2015 this terrifying mobile tree harvesting machine is like a robot koala bear with chainsaw limbs for more terror, theyve also made it scorpionlike. However, tree climbing is dangerous, and thus the development of a tree climbing robot could assist or replace manual work. Way more information than you ever wanted on how to fell a tree. A comparative approach to the study of animal climbing could reveal advantages and disadvantage in body and leg structure and function that could inspire the design of a legged climbing robot. This manuscript deals with the design of a manipulator, with two unique modular end effectors for the harvesting mechanism of a. Each cad and any associated text, image or data is in no way sponsored by or affiliated with any company, organization or realworld item, product, or good it may purport to portray. Adding intelligence to the robotic coconut tree climber. Autonomous control and implementation of coconut tree climbing. Sep 19, 2014 this tree climber helps in climbing tall trees like coconut or areca nut trees.