Transcript Analyze Phase Presentation

Analyze Phase
SENIOR DESIGN TEAM 25: PALM HARVESTER
Group Members
Brian Newman, ME
David Boswell, ECE
Bolivar Lobo, IE
Louis-Olivier Verret, IE
Gianni Alessandria, IE
Ricardo Aleman, ME
Yuze Liu, ME
Brian
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Advisors
•Dr. Okoli (Sponsor)
•Dr. Olawale (IE supervisor)
•Dr. Amin (ME senior design coordinator)
•Dr. Clark (ME advisor)
•Dr. Frank (ECE senior design coordinator)
•Dr. Moss (ECE advisor)
Brian
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Project
Review
Palm Harvester
Goal
Develop an effective,
efficient, and economical oil
palm harvester
Brian
1.
Previous group constructed an incomplete
climbing robot
2.
Cart with telescoping pole design was selected
3.
Physical models were constructed
4.
Pole saw was to move electronically
5.
Prototype 1.0 was designed to be more basic
6.
Prototype 2.0 will be constructed if testing
proves successful
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Major Selling Points
Portable
Bolivar
Safer
More Affordable
5
Major Selling Points
Stable Design
Bolivar
6
Design
Overview
Prototype 1.0
Louis
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Prototype 1.0
COMPONENTS
A
• Cutting Tool (A)
• Telescoping Pole (B)
B
R = 5ft
• Tree Grips (C)
• Cart (D)
H≤
40ft
C
• Power/ Auxiliary System (E)
Palm
Harvester
Drawing not to
scale
D&E
Louis
Oil
Palm
h = 4ft
8
Cutting Tool Design
•2 DOF: Horizontal and vertical rotation
•10 foot long pole saw balanced in center
•Ropes and pulleys allow for motion
Louis
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Cutting Tool Design
Square Tubes
Camera
Lazy Susan
Angle Brackets
Louis
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Telescoping Pole Design
HDPE Bars
2 in Diameter
Steel
3 in Diameter
PVC
4 in Diameter
PVC
6 in Diameter
PVC
Louis
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Telescoping Pole Design
• The pole can fold down
Pivot Block
Self-locking shoulder screw
• Rotate with the pivot block
• The pole can translate through the
hole of the pivot block
Alignment Block
Louis
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Tree Grip Design
Operation
1. Winch the rope
2. Tension closes grip
3. Release winch
4. Spring opens grip
Louis
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Cart Design
Swivel Caster
Monitor
Winch
Rigid Caster
Perforated Tube
Louis
Modified cart
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Fabrication
Brian
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Delivery
Distributor
Parts Included
Delivery Date
McMaster-Carr
Small components, raw materials
1/14/14
Harbor Freight
Wheels, steel cables
1/22/14
Lowe’s
Cart, pipes, hose, pole saw
1/24/14, 2/7/14
Pyle
Camera/monitor
2/4/14
• Budget Spent: $1477
• Budget Remaining: $523
Brian
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Cart Reinforcement
•Cart material was not rigid enough
to handle the loads expected
Brian
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Rotating Top Platform
•Completely assembled
Brian
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Tree Grips
SolidWorks Student License
Academic Use Only
• Assembly in progress
• Still need to 3D print slider
.057in
Brian
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Power
Configuration
David
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Power
Draw
On-board
Battery
Monitor
David
Camera
Battery
Pack
Pole Saw
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Camera & Monitor
• Waterproof and durable
• Easy setup
•Outputs video via RCA cable
• Waterproof
• 12VDC 60mA (.72W)
David
• Durable
•Requires waterproofing case
• 12VDC
• 8W
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Pole Saw
• Black and Decker 18V Max
Lithium Ion Pole Pruning Saw
David
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Current Measurement Setup
David
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Pole Saw Test
Information gathered:
• Average Current
• Peak Current
•Average Cutting Time
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Current Data
12
10
y = 0.6767x + 7.3601
R² = 0.0322
Current(A)
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Avg
6
Peak
y = 1.7347x + 4.7155
R² = 0.3608
Linear (Avg)
Linear (Peak)
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2
0
0
David
0.2
0.4
0.6
0.8
Branch Dia (in)
1
1.2
1.4
1.6
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Power Supply
• 12VDC battery and charger
•7 Amp Hour (84W-hr)
- 9.5 hours of use
David
• 1.5 Amp-hours (27W-hr)
• 5 seconds to cut fruit at 6
amps (108W)
• Cut up to 300 fruits
(assuming 5sec/cut )
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Pole Saw Configuration
•Pole Saw will be balanced at center of
mass
•Pushbutton used to activate cutting
tool
•Wires will be used for connections
David
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Power Configuration
David
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Analysis
Brian
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Tree Grip Force Analysis
• Analysis in ForceEffect App (iOS)
• Predicts 10:1 reduction in force
• Eg. 50lbs tension = 5lbs grip
• Experiments indicate 20:3
reduction in force
5lbs
5lbs
• Eg. 50lbs tension = 7lbs grip
• Tension can be up to 100lbs
50lbs
Brian
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Center of Gravity Force Analysis
• Analysis in ForceEffect App (iOS)
•Weighted poles modeled as thin
vertical links
•What are the reactions?
• Moments
• Forces
Brian
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90°: With vs Without Tree Grips
3lb
6lb
Brian
Moment reduced 87% from 35lb-ft to 8lb-ft
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89°: With vs Without Tree Grips
3lb
6lb
Brian
Moment reduced 91% from 85lb-ft to 8lb-ft
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Wind: With vs Without Tree Grips
10lb
drag
10lb
drag
12lb
9lb
Brian
Moment reduced 97% from 400lb-ft to 11lb-ft
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Effect of Tree Grips
Overall the tree grips dramatically
stabilize the system
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Schedule
Bolivar
37
Bolivar
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Future Plans
• Assembly In Progress
• Telescoping Poles
• Tree Grips
•Assembly to Being
• Electrical connections
• Monitor case
• Camera mounting
Bolivar
39
Future Plans
• Testing
•Telescoping pole
•Camera/Monitor
•Cutting
Bolivar
40
Future Plans
• Improve
Prototype 1.0
Bolivar
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Questions?
42