Analysis of Forward Kinematics of 2R Robotic Arm
Issue:
Volume 8, Issue 2, April 2023
Pages:
16-20
Received:
27 September 2022
Accepted:
26 October 2022
Published:
18 May 2023
Abstract: In Kinematics, the analysis of acceleration and velocity is usually done whereas the forces are neglected. The machine’s smallest unit is the link, which is akin to a cell in the human body. Robotics is built on the foundation of machines. A pair is established by the combination of links which leads to the construction of linkage. A mechanical linkage is a collection of bodies that are connected to control forces and movement. The combination of linkage (also known as Mechanism) generates Machine. The robot’s kinematics equations are used in robotics, video games and animation. Inverse kinematics is the mathematical process of determining variable joint parameters necessary to place an object at the end of a kinematic chain in a specific position and orientation with respect to the start of the chain, such as robot manipulator or skeleton of an animated character. The role of Forward and Inverse Kinematics in a 2R Robotic Arm are studied with successful demonstrations. Forward Kinematics of a 2R Robotic Arm using Matlab and Python confirming similar results are exhibited (Figure 8 and Figure 9). Matlab illustrated 2D Path Tracing for 2R Robotic Arm with Inverse Kinematics. Finally, inverse kinematics of 2R Robotic Arm in Matlab using fuzzy logic is modelled successfully. Thus, it helps in the understanding of kinematics and can be used in the simulation of machines.
Abstract: In Kinematics, the analysis of acceleration and velocity is usually done whereas the forces are neglected. The machine’s smallest unit is the link, which is akin to a cell in the human body. Robotics is built on the foundation of machines. A pair is established by the combination of links which leads to the construction of linkage. A mechanical lin...
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Evaluation of Sugar Cane Harvester and Cutter
Issue:
Volume 8, Issue 2, April 2023
Pages:
31-35
Received:
26 April 2023
Accepted:
27 May 2023
Published:
9 June 2023
Abstract: Sugarcane is widely cultivated in sub-Saharan Africa (SSA), particularly in Ethiopia. According to Central Statistics Agency (CSA) of Ethiopia, 1,090,575 households cultivated sugarcane in about 29,536.49 hectares of land and 13,470,350.06 productions in quintals and in Oromia region 324,526.00 households grew sugarcane and 3,162,239.03 productions in quintals. Sugarcane harvesting is a process of cutting and detaching of matured sugarcane from the field. Manual harvesting causes fatigue due to excessive stress on the joints and muscles and are exposed to harmful pests from plantations, creating safety concerns. Harvesting by machine makes green sugarcane harvesting possible, which reduces Green House Gas emissions from pre-harvest burning necessitated by manual harvesting. Result analysis indicate that the cutting capacity of sugar cane cuter machine was significantly affected by engine motor speed, sugarcane feed rate. The thoroughgoing cutting capacity of 1200.7 (stoke/h) was noted when the machine motor speed was 400 rpm and the feed amount of 3 (stoke/min). The thoroughgoing cutting effectiveness of 99.48% was recorded when the machine was worked at speed of 400 rpm and at feed amount of 2 (stoke/min). Gas ingesting of the cutting machine amplified with in increment of machine speeds and surge with increments of feed rates (from 100.33 to 124.33 ml/stoke with engine speed of 300 and 400 rpm and the feeding rate of 1, 2 and 3 stoke/min). Rise in the engine swiftness resulted in declined cutting efficiency. This could be due to the very fact that at higher engine speed the energy imparted to the sugarcane was high and hence causing disturbance for harmonic motion which leads to decline cutting uniformity. Thoroughgoing cutting uniformity 99.99% was observed when the machine was operated at engine speed of 300 rpm and at feed rate of 1 (stoke/min). The average cut height (mm) remains on ground, Forward speed (km/hr), Actual width of cut (mm), Theoretical field capacity (ha/hr), Actual field capacity (ha/hr) and Field efficiency (%) were 50.75, 2.18, 600,1.31, 0.69 and 52.67 respectively.
Abstract: Sugarcane is widely cultivated in sub-Saharan Africa (SSA), particularly in Ethiopia. According to Central Statistics Agency (CSA) of Ethiopia, 1,090,575 households cultivated sugarcane in about 29,536.49 hectares of land and 13,470,350.06 productions in quintals and in Oromia region 324,526.00 households grew sugarcane and 3,162,239.03 productions...
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