Analyze PhaseSenior Design Team 25: Palm HarvesterGroup MembersBrian Newman, MEDavid Boswell, ECEBolivar Lobo, IELouis-Olivier Verret, IE

Gianni Alessandria, IERicardo Aleman, MEYuze Liu, ME2BrianAdvisorsDr. Okoli (Sponsor)Dr. Olawale (IE supervisor)Dr. Amin (ME senior design coordinator)Dr. Clark (ME advisor)Dr. Frank (ECE senior design coordinator)Dr. Moss (ECE advisor)3BrianProject ReviewPrevious group constructed an incomplete climbing robotCart with telescoping pole design was selectedPhysical models were constructedPole saw was to move electronicallyPrototype 1.0 was designed to be more basicPrototype 2.0 will be constructed if testing proves successful

Palm HarvesterGoalDevelop an effective, efficient, and economical oil palm harvester

4BrianMajor Selling Points5

Bolivar

SaferPortable

More AffordableMajor Selling Points6Bolivar

Stable Design

Design OverviewPrototype 1.07

LouisPrototype 1.0Components Cutting Tool (A) Telescoping Pole (B) Tree Grips (C) Cart (D) Power/ Auxiliary System (E)8ABD & EOil Palm Palm HarvesterR = 5ftH 40fth = 4ftDrawing not to scaleCLouisCutting Tool Design2 DOF: Horizontal and vertical rotation10 foot long pole saw balanced in centerRopes and pulleys allow for motion9Louis

Cutting Tool Design

Lazy SusanSquare TubesCameraAngle Brackets10LouisTelescoping Pole Design116 in Diameter PVC4 in Diameter PVC3 in Diameter PVC2 in Diameter SteelLouis

HDPE BarsTelescoping Pole Design12

Pivot BlockSelf-locking shoulder screwThe pole can fold down

Rotate with the pivot block

The pole can translate through the hole of the pivot block

Alignment BlockLouisTree Grip Design13

OperationWinch the ropeTension closes gripRelease winchSpring opens gripLouis

Cart Design14Swivel CasterRigid CasterWinchMonitorModified cartPerforated Tube

LouisFabrication15

BrianDelivery16DistributorParts IncludedDelivery DateMcMaster-CarrSmall components, raw materials1/14/14Harbor FreightWheels, steel cables1/22/14LowesCart, pipes, hose, pole saw1/24/14, 2/7/14PyleCamera/monitor2/4/14Budget Spent: $1477Budget Remaining: $523BrianCart ReinforcementCart material was not rigid enough to handle the loads expected17

Brian

Rotating Top PlatformCompletely assembled18Brian

Tree Grips Assembly in progress Still need to 3D print slider19Brian

Power ConfigurationDavid 20

David 21Camera & Monitor DurableRequires waterproofing case 12VDC 8W Waterproof and durable Easy setupOutputs video via RCA cable Waterproof 12VDC 60mA (.72W)David 22

Pole Saw Black and Decker 18V Max Lithium Ion Pole Pruning Saw

23

David Current Measurement Setup24

David Pole Saw TestInformation gathered: Average Current Peak Current Average Cutting Time25

Current Data26David

Power Supply 12VDC battery and charger7 Amp Hour (84W-hr)- 9.5 hours of use

David 271.5 Amp-hours (27W-hr)5 seconds to cut fruit at 6 amps (108W)Cut up to 300 fruits (assuming 5sec/cut )

Pole Saw ConfigurationPole Saw will be balanced at center of massPushbutton used to activate cutting toolWires will be used for connections

David 28Power Configuration29

David Analysis30

BrianTree Grip Force Analysis31Brian Analysis in ForceEffect App (iOS) Predicts 10:1 reduction in forceEg. 50lbs tension = 5lbs grip Experiments indicate 20:3 reduction in forceEg. 50lbs tension = 7lbs grip Tension can be up to 100lbs

5lbs5lbs50lbsCenter of Gravity Force Analysis Analysis in ForceEffect App (iOS) Weighted poles modeled as thin vertical linksWhat are the reactions?MomentsForces

32Brian

90: With vs Without Tree Grips333lb6lbMoment reduced 87% from 35lb-ft to 8lb-ftBrian

89: With vs Without Tree Grips343lb6lb

Moment reduced 91% from 85lb-ft to 8lb-ftBrian

Wind: With vs Without Tree Grips359lbMoment reduced 97% from 400lb-ft to 11lb-ft12lb10lb drag10lb dragBrianEffect of Tree GripsOverall the tree grips dramatically stabilize the system36

Schedule37

Bolivar38

BolivarFuture Plans Assembly In ProgressTelescoping PolesTree Grips Assembly to BeingElectrical connectionsMonitor caseCamera mounting

39

Bolivar

Future Plans TestingTelescoping poleCamera/MonitorCutting40Bolivar

Future Plans Improve 41Bolivar

Prototype 1.0

Prototype 2.0Questions?42