The use of differentials to increase the efficiency of orienting robotic devices of agricultural equipment

Abstract

Robots are used in modern agricultural equipment. There are several types of robot designs: articulated robots, delta robots, sсara robots and others. Almost every robot has in its design an orienting device, designed to orient the tool, used by the robot in space. Orienting devices differ from each other by different structural diagrams of transmission mechanisms and types of links, functioning in the mechanisms. All orienting devices are united by a design feature, which consists in the fact, that in order to rotate the tool around the axis of any kinematic pair, which is the degree of mobility of the orienting device, it is necessary to rotate several electric drives. If you rotate with one electric drive, the tool will make a spherical movement. The reason for this effect is that the kinematic chains, through which rotation is transmitted from the electric drive to the tool, intersect with each other. The use of differentials in the design will allow the tool to rotate around one axis by one electric drive, which gives some advantages in motion control. The article describes the design features and the principle of operation of the orienting device with differentials.