Manipulator automation for Fresh Fruit Bunch (FFB) harvester

Authors

  • Helena Anusia James Jayaselan Department of Biological and Agricultural Engineering, Faculty of Engineering, Universiti Putra Malaysia 43400 Serdang, Selangor Darul Ehsan, Malaysia
  • Wan Ishak Wan Ismail Department of Biological and Agricultural Engineering, Faculty of Engineering, Universiti Putra Malaysia 43400 Serdang, Selangor Darul Ehsan, Malaysia
  • Desa Ahmad Department of Biological and Agricultural Engineering, Faculty of Engineering, Universiti Putra Malaysia 43400 Serdang, Selangor Darul Ehsan, Malaysia

DOI:

https://doi.org/10.25165/ijabe.v5i1.430

Keywords:

manipulator, automation, interface, FFB

Abstract

Abstract: The need to mechanize major field operations that are labor intensive in oil palm industry of Malaysia has led to the study on agricultural machine automation. In general, study was on machine automation to reduce the number of workers required for harvesting as well as to provide comfortable ergonomic for the operator of oil palm harvester. The objective of the study was to perform interfacing between the oil palm tree and hardware (harvester) as well as to compare the harvesting efficiency between the mechanical and automated manipulator. Kinematic analysis was calculated based on the D-H configuration for the position and orientation of harvester arm using high resolution webcam and ultrasonic sensor to obtain 3D coordinates required by the D-H notations. PIC Circuit Board (PCB) design and fabrication as well as testing and implementation of concept of camera vision operation system for FFB harvester with fully developing a Graphical User Interface (GUI) was conducted to assist the automation of the harvester manipulator. The automation of 5DOF manipulator harvester operation proves to be faster than the manually operated mechanical harvester with an approximation of 60 percent significant decrease in speed of the manipulator with 70 percent of accuracy. Keywords: manipulator, automation, interface, FFB DOI: 10.3965/j.ijabe.20120501.002 Citation: Helena Anusia James Jayaselan, Wan Ishak Wan Ismail, Desa Ahmad. Manipulator automation for Fresh Fruit Bunch (FFB) harvester. Int J Agric & Biol Eng, 2012; 5(1): 7

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Published

2012-03-26

How to Cite

Jayaselan, H. A. J., Ismail, W. I. W., & Ahmad, D. (2012). Manipulator automation for Fresh Fruit Bunch (FFB) harvester. International Journal of Agricultural and Biological Engineering, 5(1), 7–12. https://doi.org/10.25165/ijabe.v5i1.430

Issue

Vol. 5 No. 1 (2012): IJABE

Section

Power and Machinery Systems

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