A Cable Driven Parallel Robot for Nursery Farming Assistance

摘要

This paper presents the idea of implementing a cable-driven parallel robot (CDPR) for farming assistance in plant nurseries. The proposed robot targets to perform seeding, weeding, and nutrition monitoring autonomously on a prepared plant bed where saplings are grown in plant nurseries. The paper describes the conceptual design of the robot along with the trajectory planning simulations for executing the intended tasks. To simulate the sequence of weeding and nutrition monitoring operations, real-time visual data from an experimental planting bed has been utilized. The simulation results show the validity of the trajectory planning algorithm and operational methodology in executing the functions of the proposed robot.