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DEVELOPMENT AND FIELD EVALUATION OF A HYDRAULIC ARM INTEGRATED WITH AN E-VEHICLE FOR ROBOTIC COTTON PICKER
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  • Er. Rahul Yadav,
  • Manjeet Singh,
  • Aseem Verma,
  • Naresh Kumar Chhuneja,
  • Derminder Singh,
  • Paramjit Singh
Er. Rahul Yadav
Punjab Agricultural University

Corresponding Author:[email protected]

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Manjeet Singh
Punjab Agricultural University
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Aseem Verma
Punjab Agricultural University
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Naresh Kumar Chhuneja
Punjab Agricultural University
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Derminder Singh
Punjab Agricultural University
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Paramjit Singh
Punjab Agricultural University
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Abstract

In this study, a hydraulic arm was developed for the robotic cotton picker and integrated with the e-vehicle. The hydraulic arm had three degrees of freedom (DOFs), that moved in vertical, rotational, and radial motion. A roller-type end-effector was installed at the front of the arm that came close to the cotton boll and separated it from the plant. A vacuum unit was generating a suction pressure in the hose pipe, allowing it to suck up the picked cotton bolls and transport them into the storage tank. The hydraulic arm with e-vehicle was operated in the field for three different plant-to-plant spacing 250, 350, and 450 mm at suction pressures 25, 50, and 75 mmHg to assess its performance. The maximum picking efficiency and picking capacity were 92.79 %, and 567 bolls picked/h, respectively observed for plant-to-plant spacing of 450 mm at a suction pressure of 75 mmHg. The minimum damage of green bolls and losses of cotton bolls were 126 bolls/ha, and 3.79 %, respectively observed for plant-to-plant spacing 450 mm at a suction pressure of 75 mmHg. The minimum trash content was 20.50 g observed for plant-to-plant spacing 450 mm at a suction pressure of 25 mmHg. The most suitable combination for achieving the acceptable performance of a hydraulic arm integrated with an e-vehicle in a cotton crop was the plant-to-plant spacing of 450 mm and suction pressure of 75 mmHg.
11 Sep 2024Submitted to Journal of Field Robotics
12 Sep 2024Submission Checks Completed
12 Sep 2024Assigned to Editor
12 Sep 2024Review(s) Completed, Editorial Evaluation Pending
23 Sep 2024Reviewer(s) Assigned