Design of harvesting mechanism for advanced remote-controlled coconut harvesting robot (A.R.C.H-1)

Abstract

A.R.C.H (ark), robot is a coconut tree-climbing robot, designed specifically to harvest coconuts quickly, safely and efficiently. This robot is controlled remotely from the ground, and the operator can see what is happening on top of the tree on his remote-display. The A.R.C.H-1 robot prototype with its novel climbing and fastening mechanism is designed to climb a pole of varying diameter, which simulates a coconut tree. This manuscript deals with the design of a manipulator, with two unique modular end-effectors for the harvesting mechanism of A.R.C.H-1. The two robotic arms with three degrees of freedom are designed in such a way that it can be mounted on either side of the robot head. In addition, this paper also proposes two types of harvesting blades, suitable for the conditions on top of a coconut tree, which can be attached to the robotic arm.