4218

3989

كارشناسي ارشد

مكانيك ماشين هاي كشاورزي

اصفهان : دانشگاه صنعتي اصفهان، دانشكده كشاورزي

1387

سيزده، 117، [II] ص. : مصور، جدول، نمودار

ص. ع. به : فارسي و انگليسي

عباس همت، مهدي كشميري

امين اله معصومي، محمد جعفر صديق

22/7/1387

مرتضي مير صادقي، منوچهر حيدر پور

مهندسي كشاورزي

ID3989

به فارسي و انگليسي : قابل رويت در نسخه ديجيتال

AbstractConsumption of tomatoes is popular among Iranian in all seasons Tomatois a sensitive product to pressure and impact For customers to receive ahigh quality product tomatoes need an appropriate harvesting time andmethod Out of season tomatoes are produced in greenhouses Due to non uniform distribution of fruits on each plant having an intelligent andpowerful system to increase the speed and quality of harvesting is essential In this study an articulated arm configuration with three degrees offreedoms was designed constructed and controlled Furthermore physicaland mechanical properties of the tomato were measured Puncture and burststudies were conducted using an Instron universal testing machine Todesign the arm a geometrical definition along with kinematical descriptionof the linkages dynamics analysis type and layout of the joints geometryof the links materials weight and dimensions of the links were considered After simulation and motor selection the mechanical model of the arm wasmodeled using available computing tools Finally a mechanical prototypeof the robotic arm was constructed and tested Image processing systemwas used to detect the tomato The controlled system was then designedsuch that the arm was directed toward the target point The results showedthat the arm accuracy at final point in x y and z axes was 1 2 1 1 and 1 4mm respectively The accuracy of the joints angle was estimated to be 1

عباس همت، مهدي كشميري

امين اله معصومي، محمد جعفر صديق

مرتضي مير صادقي، منوچهر حيدر پور