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Dr. Fruit-picker

Dr. Fruit-picker. Silas Harris Michael Forrest Tsjellum van der Stok. Background. Farmers are seeking to save money by utilizing robots to harvest crops, as opposed to manual labor. There are currently several varieties of fruit picking robots, however they are all expensive. . Problem.

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Dr. Fruit-picker

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  1. Dr. Fruit-picker Silas Harris Michael Forrest Tsjellum van der Stok

  2. Background • Farmers are seeking to save money by utilizing robots to harvest crops, as opposed to manual labor. • There are currently several varieties of fruit picking robots, however they are all expensive.

  3. Problem • Balloons filled with water are hung off a 3’ by 2’ peg board. Red balloons are considered ripened fruit and must be picked and put into a container. The green balloons aren’t ripe and should be left alone so they can continue growing.

  4. Solution • Our Proposed Solution: • A vertical X-Y robot. • A simple rotating scoop will pluck the balloon from the peg board • Chute to deliver picked fruit • Photoresistor circuit to identify ripe fruit • DC Motors used for X-Y movement • X-Y Carriage systems run on a threaded rod

  5. System Overview Y-direction stepper motor Display signals, micro, switches, motor controllers, power Color Detector, consisting of an LED and a photoresisitor Rapid prototyped balloon scoop Delrin carriage 80/20 Extruded aluminum carriage rails Acme threaded rods X-direction stepper motor

  6. Flow Chart Pan Right Red? Scoop Yes No 5 Sec Timer Expired? Yes Yes X - Limit Reached? Yes Left Limit Reached? No No No Up One Inch Yes Pan Up Pan Left No

  7. State Diagram Scoop_timer==0 Color_red==1 Color_red==0 Right_limit==1 Right_limit==0 Y_limit==1 Y_counter==1 Left_limit==1

  8. Color Sensor Red LED Photoresistor

  9. Mechanical Design • Linkage system for balloon scooprun off a linear stepper motor • Support bracing to counteract forces from the scoop • Threaded aluminum nut to mobilize carriage along the x-axis • Combination of 8020 aluminum and low friction Delrin runners • Motor design for 500g of force on scoop

  10. Areas of Responsibility Silas Harris • SolidWorks/Conceptual Design/GDT • Stress Analysis Michael Forrest • Electrical Engineering • Component Specs Tsjellum van der Stok • Software • C Programming • Logic Analysis

  11. Materials

  12. Schedule

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