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Asparagus Robotic Harvester’s Development Update PDF Εκτύπωση E-mail
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Συντάχθηκε απο τον/την Χρήστος Μπούμπουλης (Christos Boumpoulis)   
Δευτέρα, 10 Σεπτέμβριος 2018 15:21

Asparagus Harvester in FreeCAD

 

Asparagus Harvester in Gazebo

 

 

Asparagus Robotic Harvester’s Development Update

 

The asparagus robotic harvester development continues.

The mechanical drawing of the device has been already completed in the FreeCAD, which is a computer aided design CAD software for designing mechanical part.

My intention is, at this level of development, to complete an emulated model of the asparagus harvester in an apropriate software environment.

For this emulation I have chosen the Gazebo, which is an emulator software environment specifically for robotics models.

As to migrating the asparagus harvester, from the FreeCAD to the Gazebo, I had to options. The first was to build the asparagus harvester with elementary geometrical objects which the Gazebo provides internally, and, the second was, to divide the asparagus harvester, within FreeCAD, to a series of “links”, meaning sub-parts of the device, then, to transform, by using FreeCAD’s internal functionality, these “links” to “meshes” (a mesh is a virtual, single surface made of joined together triangles), and finally, transport the corresponding to the “links”, “meshes” to the Gazebo.

I chosen the second option, which, after having resolves certain compatibility issues, worked fine.

Now, the complete robotic harvester, in terms of the “links” has been migrated into the Gazebo and I am currently working for connecting the “meshes” of all the corresponding “links” together, in pairs, by defining the corresponding “joins”.

Up to this point, all the chosen elements, software and hardware, for the development of the asparagus robotic harvester cooperate effectively and efficiently and as I see the asparagus harvester evolving through the developments I am looking forward for seeing in the near future, thousands units of the asparagus harvester operating in groups, at the asparagus cultivations, all over Germany, during the nights, with their lights open, thus presenting how the modern agricultural production is going to become.

 

Christos Boumpoulis

economist

 

 

Τελευταία Ενημέρωση στις Τρίτη, 11 Σεπτέμβριος 2018 22:12