rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Design and Evaluation of a Robotic Weeding Platform and Metal Brush Actuators
  name:
    name part: Lang, Zihui
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Darbha, Swaroop
    role:
      role term: thesis advisor.
  name:
    name part: Bagavathiannan, Muthukumar
    role:
      role term: thesis advisor.
  name:
    name part: Texas A&M University
    role:
      role term: degree granting institution.
  type of resource: text
  genre: bibliography
  origin info:
    place:
      place term: txu
    date issued: 2023
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: remote
    extent: 1 online resource.
  abstract: As the demand for organic food grows, the concern of herbicides usage rises, and the herbicide-resistant weed surges. Compared to chemical, mechanical weed control has become a favorite in agricultural production. Precision weeding is becoming widely studied with the rapid development of sensors and computer technology. However, most of the current precision mechanical weeding is limited to large tractors or semi-automation systems. We focus on small robots and design an intelligent weeding robot with robotic arms traveling between crop rows. This thesis discusses the design of the vehicle platform, the robotic arm, and the metal brush actuators. In the vehicle platform section, the vehicle parameters were selected, analyzed, and verified based on the experience of off-road vehicle designs. Key components of the vehicle, such as the A-arm, upright, and chassis, were analyzed and verified in the order of geometry-dynamics-FEA. In the design of the robotic arm, the number of active parts is reduced by using the characteristics of the weeding process, and a suitable control algorithm is developed. The structural part of the robot arm uses linkage system kinematics and topology optimization analysis to improve the overall performance. The weeding actuator design section draws on widely used agricultural tools to design four different forms of brush weeders. This part also predicts the working depth curve of the weeding brush under different soil moisture conditions by existing theories and verifies the correctness of the theories through experiments. Finally, the best brush structure is evaluated and presented. Each part of the design in this thesis follows a theory-simulation/experiment-verification design flow. Given the growing trends of small agricultural vehicles, this design can provide many references. The electronic version of this dissertation is accessible from https://hdl.handle.net/1969.1/197103
  note: by Zihui Lang.
  note: "Major Subject: Mechanical Engineering"
  note: Includes vita.
  note: Master of Science Texas A&M University 2022 https://hdl.handle.net/1969.1/197103
  note: Includes bibliographical references.
  note: Text (Thesis)
  subject:
    topic: Major Mechanical Engineering
  subject:
    topic: Robotics
  subject:
    topic: Precision weeding
  subject:
    topic: Brush actuators
  identifier: https://hdl.handle.net/1969.1/197103
  record info:
    record content source: TXA
    record creation date: 240819
    record change date: 20240820145844.3
    record identifier: in00005463419
    language of cataloging:
      language term: eng