Development of a novel mechatronic system for mechanical weed ...

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Materials and methods prototyping is even more evident in the testing and analysis phase. With a virtual prototype, upon completion of the simulation, all the calculated data can be accessed and processed immediately. The raw data can be directly analysed inside the software or easily imported into another numerical application for further analysis. The scope of the data includes almost everything that exists under real operating conditions: forces, deflections, displacements, stresses, etc. Another advantage of virtual prototyping is the flexibility it offers in prototype design. In traditional prototyping, many different ideas are brainstormed, eventually resulting in several scaled mock-ups. The number of prototypes produced is usually limited because of cost, material availability, and manufacturing and storage space limitations. Once a prototype is produced, any changes in the design need to be implemented manually. Unless a major overhaul of the prototype is acceptable, only small changes are possible, because large design changes are impractical. With virtual prototyping there is no limitation caused by costs or space requirements to build the prototype, so any number of design variations are possible. A part change or modification is automatically updated, maintaining the project without necessity for corrections in all versions of the prototype. Additionally, a current version can be easily reverted back to an earlier design stage, because all the changes made during the design process have been stored as a back-up. Most of the outcomes of physical prototyping can be achieved in virtual prototyping. All the dimensional interactions between parts can be examined. By being able to look at the virtual model from any angle, any issue involving line-of-sight or part interferences can be checked and different kinds of kinematical interactions can be tested. It should be noted that virtual prototyping does not by definition include a comprehensive virtual reality environment, but any virtual prototype can certainly be extended and experienced in virtual reality if the proper equipment is available (Wang 2002). A virtual environment (VE) allows a user to completely interact within the same environment as the product, often with the use of large-scale flat-wall displays, goggles, or CAVE immersive room 44
Materials and methods environments (Waurzyniak 2000). If necessary, virtual prototypes can be transferred across different platforms for further design modifications, when some special influences are of crucial importance (e.g. environment is not solid but fluid etc.). A final possibility with the virtual prototyping approach is the creation of a mock– up. In contrast to a prototype, which is usually functional and represents the latest version of a design, a mock–up is normally set up early in the design process when design ideas have not yet been solidified (Holub 2007). It is often either for a purely functional purpose with no aesthetics taken into account, or the opposite, where only the external appearance is created and no functionality is made available. The advantage is that a mock–up can be created quickly to give an early preview of a design, before it has been developed very far. Virtual prototyping allows very quick design of a mock–up, as a simulation assembly with very little functionality, including the prototype within its environment. This assembly can then be used to show what a model will look like without having to waste time defining the motion constrains required for movement. In this way, the functionality, speed and usefulness of a mock–up development are easily duplicated. 4.2.2.1 Pro/Engineer as a software tool In the past, even when parts and models were drawn in three-dimensions using software such as AutoCAD, performing any sort of kinematical or dynamic test required a copy of the original to be completely redrawn and redefined in another software application. This was because the above mentioned simulation capabilities were simply not present in drawing software packages. However, several software packages have recently begun to offer all in one solutions. For example PTC’s Pro/ENGINEER (Pro/E), has the built in capabilities of Pro/MECHANICA, which is a linear Finite Element Analysis package, since the Wildfire 2.0 release. This integration allows utilisation of the same software tool for both the design and simulation, making possible building, testing, and analysing of a virtual prototype in parallel. With full CAD/CAM/CAE 45
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Institut für Landtechnik der Rhein
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Development of a novel mechatronic
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Kurzfassung Entwicklung eines neuar
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Acknowledgements Acknowledgements M
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Table of contents Table of contents
Page 11 and 12: Glossary of abbreviations and symbo
Page 13 and 14: Symbol Unit Description Mmmax Nm Ma
Page 15 and 16: Symbol Unit Description Glossary of
Page 17: ωold ωout rad s -2 Latest rotatio
Page 20 and 21: Introduction The most frequently us
Page 22 and 23: Introduction application that had p
Page 24 and 25: Introduction be to go from a system
Page 26 and 27: Introduction limited and environmen
Page 28 and 29: Introduction than 40 years before g
Page 30 and 31: Introduction techniques. It is know
Page 32 and 33: Introduction Sowing and planting al
Page 34 and 35: Introduction Inter-row weeding syst
Page 36 and 37: Introduction 18 Figure 1.3 Inter-ro
Page 38 and 39: State of the art 20 Figure 2.1 a) F
Page 40 and 41: State of the art cylinder rotates a
Page 42 and 43: State of the art 1998). This device
Page 44 and 45: State of the art 26 2.2 Detection o
Page 46 and 47: State of the art The fluorescence s
Page 48 and 49: Definition of the problem and resea
Page 51 and 52: 4 Materials and methods 4.1 Detecti
Page 53 and 54: Materials and methods Figure 4.1 a)
Page 55 and 56: Materials and methods Figure 4.3 a)
Page 57 and 58: 4.1.2 Data acquisition 4.1.2.1 Hard
Page 59 and 60: 4.1.4 Test objects Materials and me
Page 61: Materials and methods become a poss
Page 65 and 66: Materials and methods dimensions ne
Page 67 and 68: Materials and methods (PFM). As the
Page 69 and 70: Materials and methods A command sig
Page 71 and 72: Materials and methods The drive con
Page 73: Materials and methods Another tool
Page 76 and 77: Results and discussion 58 Figure 5.
Page 82 and 83: Results and discussion objects. Acc
Page 84 and 85: Results and discussion Plant positi
Page 86 and 87: Results and discussion Plant positi
Page 88 and 89: Results and discussion 70 5.1.4 Dis
Page 92 and 93: Results and discussion Connection b
Page 94 and 95: Results and discussion 76 5.2.1 Opt
Page 96 and 97: Results and discussion xmi1 = ( RLA
Page 98 and 99: Results and discussion With the inv
Page 100 and 101: Results and discussion 82 Horizonta
Page 102 and 103: Results and discussion 84 5.2.4 Sel
Page 104 and 105: Results and discussion 86 5.2.5 Dis
Page 106 and 107: Results and discussion Conventional
Page 108 and 109: Results and discussion Since the fi
Page 110 and 111: Results and discussion To avoid con
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Results and discussion As the size
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Results and discussion 96 5.3.4 Alg
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Results and discussion 98 V = zc( t
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Results and discussion corresponds
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Results and discussion 102 5.3.6 Me
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Results and discussion hoeing accur
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Results and discussion between the
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Results and discussion distance fro
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Results and discussion Distribution
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Results and discussion cuts are ran
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Results and discussion Forward spee
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Results and discussion x [mm] Distr
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Results and discussion The experime
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6 Summary Summary Neither a mechani
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Summary The third part of the work
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7 Conclusions Conclusions The prese
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8 References References Agrios, G.
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References in California's Sacramen
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References Johnson, W C and Mullini
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References Schans, D. v. d. et al.
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List of figures List of figures Fig
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List of figures Figure 5.24 Scheme
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Plant position 9 Appendix Table 9.1
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Plant position Table 9.3 Detection
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Personal data Education About the a
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