Development of Interface Device for Modular Agricultural Robotic Platform

Abstract

To create multifunctional robotic platforms for agricultural use, it is reasonable to use a modular principle that will allow installing various equipment depending on the tasks assigned to the robotic tool. Providing autonomous reconfiguration capabilities will reduce human interference and maintenance costs. (Research purpose) This work is aimed at developing a scalable device for interfacing functional modules with the agricultural robotic base platform, which can provide mechanical fixation, energy transfer and information exchange. (Materials and methods) This article analyzes the previous research into the solutions for interfacing modules in robotic complexes and points out their benefits and drawbacks. Based on the analysis and own research, the interface mechanism structure was developed to ensure the correct mutual position and fixation of the module to the base platform under the assumption of possible energy and information exchange. (Results and discussion) In the course of the work, the design ratios for the interface device were derived, making it possible to calculate the permissible linear displacements and permissible angular deviation of the mechanism interfacing elements. Based on the permissible linear deviations up to 10-13 millimeters and a permissible angular deviation of 20 degrees, the main dimensions of the device prototype were obtained. A prototype interface device was operationalized with the dimensional specifications of 200 millimeters in length, 130 millimeters in width, 58 millimeters in height. Several experiments with the device prototype were carried out based on various linear and angular deviations of the interfacing elements. (Conclusions) It was found out that successful interfacing occurs in 98 percent of cases subject to admissible calculated displacements. It was concluded that the proposed interface device will allow for the autonomous replacement of modules of multifunctional robotic platforms.