<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>The agriculture industry has faced various challenges nowadays. This research is the first part of a project that presents the designing process, kinematic modelling, and parameterization of a 4-DOF SCARA-type robotic arm specifically designed for work in an agricultural field in terms of seeding, watering, fertilizing, weeding, harvesting, and transporting. The designing of parameters, such as optimum degrees of freedom and component configuration, was done. The kinematic model was calculated using the Denavit-Hartenberg method. The structure of robot was developed for inertia reduction, smooth motion, and torque minimization. The results show that the working space, maximum front access, and side access of developed robotic arm were 11.4 m<sup>2</sup>, 2.9 m, and 2.4 m, respectively. The results indicate that the robot has sufficient surface coverage for defined farm work.</p>
</abstract>

The agriculture industry has faced various challenges nowadays. This research is the first part of a project that presents the designing process, kinematic modelling, and parameterization of a 4-DOF SCARA-type robotic arm specifically designed for work in an agricultural field in terms of seeding, watering, fertilizing, weeding, harvesting, and transporting. The designing of parameters, such as optimum degrees of freedom and component configuration, was done. The kinematic model was calculated using the Denavit-Hartenberg method. The structure of robot was developed for inertia reduction, smooth motion, and torque minimization. The results show that the working space, maximum front access, and side access of developed robotic arm were 11.4 m2, 2.9 m, and 2.4 m, respectively. The results indicate that the robot has sufficient surface coverage for defined farm work.

A 4-DOF SCARA Robotic Arm for Various Farm Applications: Designing, Kinematic Modelling, and Parameterization

Henan University of Science and Technology

Acta Technologica Agriculturae

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

The agriculture industry has faced various challenges nowadays. This research is the first part of a project that presents the designing process, kinematic...

A 4-DOF SCARA Robotic Arm for Various Farm Applications: Designing, Kinematic Modelling, and Parameterization

Published Online: May 21, 2021

Page range: 61 - 66

DOI: https://doi.org/10.2478/ata-2021-0010

Keywords
smart, crop, robot, tractor, autonomous

© 2021 Ali Roshanianfard et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

A 4-DOF SCARA Robotic Arm for Various Farm Applications: Designing, Kinematic Modelling, and Parameterization

Published Online: May 21, 2021

Page range: 61 - 66

DOI: https://doi.org/10.2478/ata-2021-0010

Keywordssmart, crop, robot, tractor, autonomous

© 2021 Ali Roshanianfard et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
smart, crop, robot, tractor, autonomous