Low Cost Robotic Manipulator for Family Agriculture

Abstract

This article introduces or designs and practices a Gantry pneumatic robotic manipulator for greenhouse automation. The prototype was built on the reduced model for sowing and harvesting vegetables using the familiar concept of agriculture. Low-cost robotic handlers can contribute to improved working conditions in family farming and enable strategies to diversify agricultural activities for low-income families. The system has two degrees of freedom, was mounted on a metal workbench using cylinders and specially manufactured guided cable actuator. The control system includes nonlinear compensations of the servo valves used. Functional tests used step input electrical signals (-4 V to +4 V and -8 V to +8 V) using open loop circuit for robot pressure and positioning control. The results obtained are important for perfecting the robotic manipulator for family farming applications.