CONCEPTUAL AND PRELIMINARY DESIGN OF A SELF-ALIGNMENT MECHANISM FOR A ROBOTIZED AGRICULTURAL GREENHOUSE WITH NUMERICAL CONTROL TECHNOLOGY
DOI:
https://doi.org/10.36661/2965-3320.2023v1n2.14094Keywords:
Self alignment, Non linear, Greenhouses, Agricultura familiarAbstract
The main goal of this paper is to propose a solution to the self-alignment to a gantry robot at greenhouse to a familiar agriculture. The increase in global population has been a strong argument, over the last few decades, to an expansion in the number of greenhouses. Such greenhouses require improvements, been automated and robotized, with the main objective of the increase of productivity, beyond humanize the unhealthy tasks. In this context, were analyzed opportunities of technology to the agribusiness, the robotized mechanism of greenhouses presents difficulties in locomotion in a non alignment structure. For various reasons, such as the material use available and low-cost manufacturing process and the structure present guides non linear. So, the main concept of mechanism self-alignment was utilized, turning the assembly and precision of production less necessary, making possible the usage for familiar agriculture, and alloying the development of conceptual and preliminary projects of a solution to be used in the robotization of greenhouses. Were applied the method of graphs to discover the independent circuits and cinematics chains, and the Reshetov method to analyze joints and its mobility. It is planned so to contribute to the development of new technologies to agricultural greenhouses.