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Midterm II

Midterm II . Team 25: Oil Palm Harvester 11/12/13. Ricardo Aleman , ME Yuze (Liam) Liu, ME David Boswell , ECE Bolivar Lobo, IE. Review : Oil Palm Harvester. Goals Develop an effective, efficient, and economical oil palm harvester Tasks Study existing harvesting techniques

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Midterm II

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  1. Midterm II Team 25: Oil Palm Harvester 11/12/13 Ricardo Aleman , ME Yuze (Liam) Liu, ME David Boswell , ECE Bolivar Lobo, IE

  2. Review:Oil Palm Harvester • Goals • Develop an effective, efficient, and economical oil palm harvester • Tasks • Study existing harvesting techniques • Develop conceptual design • Carry out machine design • Create a product prototype • Report findings • Midterm I presentation • Studied existing harvesting techniques • Presented 3 concepts • Selected cart • Midterm II presentation • Develop conceptual design • Demonstrate mini prototype Ricardo Ricardo

  3. Review: Cart with Telescoping Pole and Cutting Tool Components A R ≤ 5ft • Cutting Tool (A) • Telescoping Pole (B) • Cart (C) • Power/ Auxiliary System (D) B H ≤ 40ft Palm Harvester Oil Palm Drawing to scale h = 4ft C & D Ricardo

  4. Motorized Methods of Harvesting • What motorized tools are used? • Sickle • Chisel • Pole Saw • How are they powered? • Gas • DC power (battery) • AC power (cord) • What can we use • Pole Saw • Any power solution Sickle with chisel attachment below Not available in USA Pole Saw Ricardo

  5. Motorized Methods of Harvesting • Example cutting (video) http://www.youtube.com/watch?v=qh9TP0Vzc1k Ricardo

  6. Example Pole Saw • Black and Decker 20V Max Lithium Ion Pole Pruning Saw • $133.09 on Amazon.com • Up to 100 cuts • Cuts up to 6” thick branches • 8” long cutting bar • Pole can extend 6.5 – 10ft • Includes battery & charger • http://amzn.com/B00AZW9Y8C Ricardo

  7. Using a Pole Saw in Design • Assuming Pole Saw • Power TBD • Supported at pivot joint • Potential DOF • 1 – Vertical rotation • 2 –Horizontal rotation • 3 – Horizontal Translation 1 2 3 Liam

  8. DOF 1 – Vertical Rotation • Torque requirement • Up to 4lbs required at tip • 20ft-lbs of torque required w/o balance mass • How to rotate the bar • Connect chain on two sides of pivot • Connect chain to DC motor on support • As DC motor rotates, it rotates the arm • Use geared DC motor • DC motor • TraxxasTitan 550 Size Motor (12T) • http://tinyurl.com/ocdo6ab • $21.99 • Gear set to make gearbox • Tamiya Spur Gear Set TT-01 #53665 • http://tinyurl.com/o2efvwe • $15.23 Pivot joint Up to 5ft Cutting Arm 20ft-lbs Chain ~4lbs DC Motor Need up to 20ft-lbs torque Support Liam

  9. Potential DC Motors • 2 – Horizontal rotation • Overcome friction to rotate • Use Lazy Susan below support • http://amzn.com/B0006LBVDI • $5.71 • How to rotate • Use Geared DC motor • Fourbar-crank slider mechanism • Produces about 90° rotation 2 Range of motion ~90 degrees Rotating platform (lazy susan) Lazy susan DC motor + Linkage Liam

  10. Potential DC Motors • 3 – Horizontal Translation • Overcome friction to translate • Use low-friction sliding joint • Also use a linear actuator • (still being worked out) 3 Liam

  11. Would it work? 2 – DOF Prototype • 1:8 scale prototype • Vertical and horizontal rotation • Still needs translation • Spent under $100 for materials • http://youtu.be/4uAnkyqshMU • It works! 1 2 Liam

  12. Cart Design Telescoping Pole Monitor & cutting tool controls • More cost-effective to modify a pre-made cart than make it from scratch • Large, soft wheels will be mounted to extension arms for increased cart stability • Pole may fold down (still being worked out) • Display and controls will be elevated for ergonomics • Power supply sits on bottom shelf of cart Modified Cart Extended wheels Liam

  13. Example Tires for the Cart • Low Speed Industrial Tires • Diameter: 10.6” • Sidewall: 3.5” • Width: 4.10” • Rim: 4” • Cost: $33.70 x 4 ~ $134.80 • Load Capacity : 250lb • http://www.gemplers.com/product/10916/410-350x4-2-ply-Stud-Tire-Wheel-Assembly Liam

  14. How Telescoping Works • Telescoping is performed with pulley system • Electric winch raises entire mast in under 1 minute • Poles are made of PVC, with steel supports in critical regions • Tracks will be used to keep poles radially aligned • Electric winch: $80 • 2000 lb capacity, used for ATVs • Corrosion resistant • Pulls at 13.3 ft/min unloaded http://youtu.be/7qwizZdSHg0 Steel Cable Electric Winch Liam

  15. Camera • Needs to be waterproof • Needs to be durable • Needs to have a simple connection • Good option is car camera for monitoring accidents • http://amzn.com/B005CTKYB4 • $13.64 • Simple RCA cable • Waterproof • 12VDC 60mA (.72W) Liam

  16. Camera Connects to Monitor • Monitor also needs to be waterproof • Needs to be durable • Needs to connect to camera • Good option is monitor used to record traffic accidents • http://amzn.com/B007SLDF7O • $30.40 • Will require waterproof case • 12VDC • 8W Liam

  17. Waterproofing • Simple to have wires hang outside of pole • Want to prevent tangle • Also want waterproofing • Solution is to use coiled hose that can attach from top to bottom • One example is http://amzn.com/B000NIYT6K • $30.00 • 50ft long • About 0.3” diameter • Fit all power cables inside* *May need to be cut into sections to help push wire through all 50ft Liam

  18. Drawing not to scale Liam

  19. 2 Power Configurations *Pole Saw uses its own power supply (e.g. battery) David

  20. Selected Power Configuration • Select Option 2 • Camera and monitor • DC motors • Add up to ~500W • Pole Saw will be powered independently David

  21. Generator as Power Supply • Sunpentown TG-1000CA • $133.99 • Supplies 1000W of power • PROS • Lasts up to 6hrs • Gas is everywhere • Outputs AC/ DC • CONS • Actual output no more than 900W • Heavier • Noisier • Produces emissions David

  22. Battery as Power Supply • 12VDC car battery • $75.99 • 35 Amp Hour (420W-hr) • http://www.harborfreight.com/12-volt-35-amp-hour-sealed-lead-acid-battery-68680.html • PROS • Easy to replace • No max. power output • Instant power on • Outputs to DC components directly • Quiet • CONS • Has to be recharged • Runs out quicker than generator David

  23. Select Generator • We own a generator already • Palm harvester needs to be used for 6 – 8 hours nonstop • Generator supplies 6 hours before requiring more gas • 1 battery would supply about 50 minutes David

  24. ScreenDesign Whendesigningourcomputerdisplay monitor, thereweretwomainfactorsthatwetookintoaccount in ordertohave a saferprocess. • Flicker: 75 Hertzorhigher. • Resolution: charactersizerange of .116” to 0.128” for a readingdistance of 20”. Bolivar

  25. ScreenSelection • Contrastbetweenthecharacter and backgroundshouldbe at least 3:1. • Refreshratesshouldbegreaterthan 75 Hz. • Resolutionshould be pixel ratio 0.28mm orbetter. • Darkletterson a whitebackgroundispreferred. Bolivar

  26. ScreenLocation • Optimalviewingdistance, fromtheeyestothescreen: 18 to 30” foroperatorswithoutvisioncorrection. • Screentiltorinclinationfromthe horizontal: -15” to 15”. • Top of thescreenshouldbe at eyelevel. Bolivar

  27. Control Design • Fortwoout of thethreemotions of ourdesign, we are goingto be usingspinning knobs. • Range of adjustmentisone full turnor more. • Forthecuttingmotion, itisbetterto use a handpushbuttonwith no more than 2 lb of force. • Itisrecommendedto use elasticresistance (spring-loading) plus slightslidingfriction. Bolivar

  28. Consequences of Poor Control Design, Selection, Location • Ifmotionstereotypes are notobserved, injurypotentialincreases. • Ifcontrols are notcoded and labeledproperly, theoperatormay use thewrong control at thewrong time resulting in an error orinjury. • Ifcontrols are notarrangedproperly, search time and number of errorsmayincrease. • Theworker’s safety might be put at risk. Bolivar

  29. Human-Cart Interface • Shoulderheight • Designthecart and thewheelssuchthattheforceappliedbytheworkerdoesnotsurpass 48lb fortheinitialpush and 31lb forthesustainedforce. • Theworkerwilloperatethe machine at a position with no potentialdanger. Bolivar

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  33. Next Steps • Finish scaled cutting tool prototype (A) • Create scaled telescoping pole prototype (B) • Create scaled cart prototype (C) • Assemble scaled prototype (A + B + C) • Carry out Machine Design • Finalized part/budget list Ricardo

  34. Remaining Fall Schedule Ricardo

  35. Questions

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