Development of Arm-Robot for Harvesting of Agricultural Products

A Kinematics Analysis of Arm Robot by Roboanalyzer

Abstract

With robots, the repetitive, difficult and dangerous work by human can be done by robots and is even very accurate. As well as in agriculture, many repetitive and difficult jobs such as picking (harvesting) lots of fruit that are difficult to reach can be done by robots.

To develop robots that can do work in agriculture field, it is necessary to design and analyze and of course be tested on agricultural products. For this reason, it is necessary to design a robot that can pick agricultural products (harvesting). This research begins with mechanical and electronic analysis, then assembly design and test. The purpose of this study is to design a simulator for fruit harvesting arm-robots.

The robot is developed with an object retrieval system with a robot arm mechanism. Based on the results of research and simulators, the conclusions are The robot can reach according to the specified position, as is the solution of various alternatives with robot kinematics analysis, ????1=63.6457°, ????2=-29.1984 dan ????3=-51.3513° and ????1=63.6457°,2=-68.9913° and ????3=51.3513° end-effector position is ????????=15 ,????????=25 and ????????=0.0. Thus the results of the analysis can be developed on the robot to reach the location of the fruit or object to be picked.