A Novel Two-Degree-of-Freedom Gimbal for Dynamic Laser Weeding: Design, Analysis, and Experimentation

摘要

Current robotic laser weeding systems mostly rely on serial mechanisms with one or two actuated axes, which can barely meet the requirements of high precision and dynamic performances. In this article, a novel laser weeding gimbal is proposed based on a two-degree-of-freedom 5-revolute rotational parallel manipulator to perform a dynamic intrarow laser weeding operation. Comprehensive analyses consisting of kinematics, workspace, singularity, and dynamics are carried out to evaluate the performance of the proposed design. Finally, experimental tests were conducted both in lab and field environments and the results are provided, in which the positioning accuracy has been evaluated as in average errors of 0.62 mm in position at the distance of 535 mm, and the dynamic weeding efficiency is around 0.72 s/weed with a dwell time of 0.64 s at the tracking speed of 0.1 m/s. The effectiveness of the proposed dynamic intrarow weeding mechanism has been evaluated in a real field trial.