Design and application of a water powered irrigation robot

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dc.contributor.authorFairfield, Kurt
dc.contributor.supervisorConstantinescu, Daniela
dc.contributor.supervisorValeo, C.
dc.date.accessioned2020-05-07T04:44:44Z
dc.date.copyright2020en_US
dc.date.issued2020-05-06
dc.degree.departmentDepartment of Mechanical Engineering
dc.degree.levelMaster of Applied Science M.A.Sc.en_US
dc.description.abstractThis 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.description.embargo2021-04-08
dc.description.scholarlevelGraduateen_US
dc.identifier.urihttp://hdl.handle.net/1828/11735
dc.languageEnglisheng
dc.language.isoenen_US
dc.rightsAvailable to the World Wide Weben_US
dc.subjectroboticsen_US
dc.subjectirrigationen_US
dc.subjectMcKibben actuatoren_US
dc.titleDesign and application of a water powered irrigation roboten_US
dc.typeThesisen_US

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