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

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Materials and methods capabilities, Pro/E is the world's most commercially adopted 3D product design solution (Anonymous 4 2007). The combination of powerful mechanical and mathematical tools built into Pro/Engineer software application helps designers to understand, evaluate, and optimise the complex motion behaviour of developed assemblies against functional performance design targets. There is a possibility to rapidly evaluate multiple design alternatives early in the design process, as well as to test and refine the digital prototype until the optimal system performance is achieved. Another benefit is the use of multiple simulation scenarios, which can be evaluated simultaneously. Pro/MECHANICA is capable of several different kinds of analysis, including structural, thermal, fatigue and kinematical. By using the Pro/MECHANICA’s simple structural analysis interface, there is a possibility to perform standard analysis types, including linear static, modal, buckling, contact, and steady state thermal. Pro/MECHANICA also contains an interesting feature named Global Sensitivity Study (ProCAD Engineering 2004). This feature assigns a range of values to a particular dimension rather than a fixed value. Successive test iterations can then be run, each time providing data that Pro/E can compare to previous results, resulting in a fast and efficient geometry optimisation. Additional more advanced tools are also available within the same package. There is a fatigue advisor option that can predict the damage that cyclical forces, even if relatively small in magnitude, can have on a design when repeated over long periods of time. The fatigue advisor is capable of checking and optimising for design durability and predicting the lifespan of a design (Anonymous 4 2007). The Mechanism/Pro built in kinematical toolbox allows analysis of the interaction of moving joints even when a model is either too crowded or simply too complex for visual inspection. If two parts are found to interfere with each other, the kinematical analysis within Pro/E can inform the user which of geometrical parameters need to be changed and exactly what the optimal 46
Materials and methods dimensions need to be. This would be extremely difficult and would require multiple trial-and-error attempts in a real-life prototype. Another thing that makes simulations with Pro/E extremely realistic is the ability to integrate a prototype’s environment into a simulation, something what is not typically available in standard design software. Even the ability to virtually operate and manipulate a prototype on demand can be of limited use if its interaction with its environment cannot be seen. Whether a mechanism operates in an environment that includes the soil, a plant, or other copies of itself, all of these elements can be added to the simulation and made to interact with the prototype. Also, if the additional elements also require movement, additional motors can easily be defined to make that possible. Not only is it possible to view the simulations on the screen in real-time as they are running, but there is also a possibility to capture images and videos. Zoom and view angle rotations are adjustable during the simulation, providing ability to capture exactly the desired part or motion. 47
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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
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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 and 62: Materials and methods become a poss
Page 63: Materials and methods environments
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
Page 112 and 113: 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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