Development of mobile dual PR arm agricultural robot

Abstract

New efficient and low-cost technology for planting and watering are needed for the growth of agriculture sector. This paper deals with the novel design, fabrication and control of a mobile dual Prismatic-Revolute (PR) arm agricultural robot which can be used by farmers and households for domestic cultivation. Proposed robot is a prototype of a low cost wheeled robotic system which consists of four main subsystems such as digging module, seed module, moisture sensor-based watering module and inline motion module. This work also includes the kinematic, static and dynamic analysis of the robotic system. Time history plots of dual arm mechanism and results of static & dynamic analysis are presented. Farming experimentation is carried out using the prototype and results are analysed. This dual PR arm agricultural robot is a good, economical solution for agricultural problem of farmers and can also be used for domestic cultivation.