Design and application of a water powered irrigation robot

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dc.contributor.author Fairfield, Kurt
dc.date.accessioned 2020-05-07T04:44:44Z
dc.date.copyright 2020 en_US
dc.date.issued 2020-05-06
dc.identifier.uri http://hdl.handle.net/1828/11735
dc.description.abstract This paper reports the findings of conceptual design and application research for a novel use of irrigation fluid power to provide mobility to a legged autonomous, tethered irrigation robot. Systems already exist to convert fluid power to rotary motion to power various irrigation systems. The conceptual designs implement a McKibben actuator to generate linear motion with water as the process fluid and a compact 3DOF spherical joint to create a modular robot leg that can be used to create a legged ambulatory robot. A six-legged robot is proposed from the conceptual design of the modular leg. Irrigation was selected as the initial leading application, however, once deployed the devices provide a field-ready platform to facilitate a whole suite of agriculturally important activities; seeding, weed suppression, pest management, soil sensing, crop growth assessment, as well as creating a robust research platform. This work is the lead in research to provide a viable mechanism to facilitate control system and dynamic modelling ahead of full-scale prototyping and field testing. en_US
dc.language English eng
dc.language.iso en en_US
dc.rights Available to the World Wide Web en_US
dc.subject robotics en_US
dc.subject irrigation en_US
dc.subject McKibben actuator en_US
dc.title Design and application of a water powered irrigation robot en_US
dc.type Thesis en_US
dc.contributor.supervisor Constantinescu, Daniela
dc.contributor.supervisor Valeo, C.
dc.degree.department Department of Mechanical Engineering en_US
dc.degree.level Master of Applied Science M.A.Sc. en_US
dc.description.scholarlevel Graduate en_US
dc.description.embargo 2021-04-08

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