Autonomous mushroom transfer system
Robot
Gripper
Driver and controls system configuration for 8 axis and 2 additional channels
Trajectory algorithms and optimisations
Controller Configuration to migrate from Raspberry Pi to Nvidia Jetson
End effector with lower depth and angeled actuation motion to pick up mushrooms upto 7 cms in diameter.
Brackets end effector
Finger materials and width analysis to create an anti-slip surface for mushrooms bigger than 4 cms in diameter
Transfer mechanism prototyping and testing
Free fall to horizontal conveyor system
Horizontal and vertical conveyor layout
Automated buggy system
Buggy Prototype
Cad Drawings
Control Design
Driver Configuration
Control Algorithms
Buggy Transfer system prototype
Fabric testings
Track system design
Control Algorithms
Control Algorithms
Meshing mechanism
Speed Optimisations
Slot Design
Funnel system
Control Algorithms
Autonomous mushroom harvesting system
BOM
Prototype
Testing and optimisation
Looping Conveyor
Driver configurations, motors sizing and hardware configuration
Picker transfer system
Cutter design
Driver Configuration
Cad Drawings
Control Design
Control Algorithms
BOM
Prototype
Testing and optimisation
Cutter controls and hardware configuration
Cutter prototype and testing
Picker Robot Prototype
End Conveyor Prototype
Central Processing system for till management Prototype
Stacker and destacker system prototype
Feasibility Phase
Vision system
No1. Mushrooms
Gripper Positioning and Orientation
Opening radius
X, Y, Z Coordinates
Path Planning
Individual Orientation
No.2 Mushrooms
Validation analysis
Gripper Positioning and Orientation
Opening radius
X, Y, Z Coordinates
Path Planning
Individual Orientation
Separation
Validation analysis
Gripper Positioning and Orientation
Opening radius
X, Y, Z Coordinates
Path Planning
Individual Orientation
Robot
Controls system and trajectory algorithms
Picking motions testing
Cluster gripper prototype
Separated gripper prototype
Testing with silicons, urethanes and plastic
System synchronisations and optimisations
Picker CSICD with Sensors and Actuators
Parts Acquisition
Mechanical Design
BOM
Assembly
Testing and optimisations
Controls system configuration
Software system architecture
API's and GUI prototype
Software system prototype
Mechanical Design
Controls system prototype
BOM
Controls system algorithms and prototype
CSICD
IP's
Buggy transfer system
Picker and picker transfer system
Grippers
End Conveyor and till management system