Semi-Autonomous Coconut Harvesting Robot

Abstract

Our project paper is mainly based on the design and development of a coconut tree climbing robot and to empower mankind to hostile environment. Goal of the project is to design an economic and reliable coconut tree climbing robot for farmers since it is very difficult to climb a coconut tree and harvest it manually due to its cylindrical structure and single stem. Our robot is inspired by the inch worm mechanism for climbing the tree. It is a challenging task as the shape of tree is irregular and hence the robot uses a well balanced mechanical design so that it can climb tree. The continuum body is used for inchworm algorithm which can toggle its position between ?C? and ?I? shape to climb on the bent trees without any difficulty. The coconuts on the trees are cut down by the help of cutting arm, which is placed on the top gripper. The cutting arm is provided with 2 degree of freedom, which can be controlled flexibly by the user.