Undergrduate final project at Technion, Haifa, Israel
2nd part - Autonomous Robotic Apple Harvester
by Or Hirshfeld
פרוייקט סיום לתואר ראשון במסולו מיכון חקלאי בטכניון
מאת אור הירשפלד 2014
50. מכניות מערכות פרויקט2זרועלקטיףתפוחיםאוטונומיתוצאות
יולי–41טכניון–לישראל טכנולוגי מכוןעמוד45מתוך95
Sub-
systemAction
Start time
[ms]
End time
[ms]
Duration
[ms]
transitional
jointStart transitional engine05050
mid jointStart mid revolute engine05050
mid jointAccelerating mid revolute50512
transitional
jointAccelerating transitional50150100
mid joint
Constant velocity mid
revolute51406355
transitional
jointConstant velocity transitional150336186
transitional
jointDecelerating transitional336436100
end jointstart end revolute engine38643650
mid jointDecelerating mid revolute4064082
end jointAccelerating end revolute43648448
end joint
Constant velocity end
revolute484843359
vacuumstart vacuum84189150
end jointDecelerating end revolute84389148
Cartesian
Cardizem movement to
catch apple8911091200
vacuumraising vacuum10911241150
Cartesian
Cardizem movement to
detach apple12411441200
end jointAccelerating end joint1441148948
end jointconstant velocity end joint14891848359
end jointDecelerating end joint1848189648
transitional
jointAccelerating transitional18961996100