Download - Design & Verify Phase
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Design & Verify PhaseSENIOR DESIGN TEAM 25: PALM HARVESTER
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Group Members
Gianni Alessandria, IE Bolivar Lobo, IE Louis-Olivier Verret, IE
Brian Newman, ME Yuze (Liam) Liu, ME Ricardo Aleman, ME David Boswell, ECE
Louis
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Advisors
Dr. 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)
Louis
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Project Review
Palm Harvester
GoalDevelop an
effective, efficient, and economical oil
palm harvester
4Louis
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Define Phase
Goal ◦ Construct a semiautonomous oil palm harvesting
machine Budget
◦ $2,000 Expectations
◦ Consider safety, affordability, efficiency and reliability
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House of Quality
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Customer requirements
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Quality characteristics
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Results
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Measure Phase 1. Brainstormed Cart with Telescoping Pole
2. Built a small mechatronic prototype
3. Developed the Mechatronic Concept
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Cart with Telescoping Pole ConceptCOMPONENTS
• Cutting Tool (A)
• Telescoping Pole (B)
• Tree Grips (C)
• Cart (D)
• Power/ Auxiliary System (E)
A
B
D & E
Oil Palm
Palm Harvester
R = 5ft
H ≤ 40ft
h = 4ft
Drawing not to scale
C
Ricardo
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Analyze Phase Overview of the design
Fabrication
Delivery of most components
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Recap of the Design Phase
Louis
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Test 1 Design Phase Goal:
• Extending Pole
• Winch
• Cart
Louis
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Results of Test
POSITIVES◦ Winch ◦ Poles ◦ Reinforcements of cart◦ Mobility of the cart
ISSUES◦ Unstable Poles◦ Sliding Experienced ◦ Cart veered left ◦ Rotation of the
extending pole◦ Pivot block had
incorrect threading
Louis
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Veering of Cart
Actual
Target
SOLUTION
Reduce wobble in legs to improve maneuverability
• Temporary solution by filling gaps with material to occupy space
•Future work can improve the legs by designing them more rigidly
Louis
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Loose Pivot Ring ISSUE
◦ Gap Between ring and pole ◦ Need a better way to secure
pole inside pivot ring
SOLUTION
◦ Add a T-Handle Screw ◦ Tightening of pole
Louis
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Loose Pivot RingISSUE SOLUTION
Louis
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Rotation of PoleISSUE
Rotation of the pole during testing
Lead to Failure
Need to constrain pole rotations
SOLUTION •Use inner plastic bars to constrain rotation
• Also use orange tape along tubes to watch for potential rotations
Louis
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Testing Issue 4: Bracket Yielding• The pulley brackets yielded
• Why wasn’t this anticipated?
• See wire twisted around pole
• Twisting wire required extra winch force which wasn’t expected, thus yielding
• Need to reinforce pulley brackets
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Solution 4: Bracket Yielding• Need to reinforce pulley brackets
• Bending likely because of extra load from twisting rope
• One fix is to constrain rotation ( Solution 3)
• Also use pulley with wing to distribute load better
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Assembly Status
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Assembly Status All mechanical subassemblies have been completed!
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Verify Phase
Gianni
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Mounting of the Subassemblies
Gianni
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Test 2 • SETUP TIME &
PROCEDURE
• TREE GRIPS
• ELECTRONICS• CAMERA• CUTTING TOOL
Gianni
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Results Positives• No injuries• Poles rise up 25ft high• Tree grips were functioning
properly• Partially constrained rotation• Friction tape held tree grip well
against the poles.• Mounted camera provided
good view of the tree grip.
Gianni
25ft
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Camera • Mounted camera provided a good view of the tree grip (right below
the pole saw)
Gianni
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Issues: Not High Enough! The device got stuck at
25 ft. Reason:
Upper tree grip was cranked closed.
We followed an incorrect sequence.
SOLUTION: Adhere to Operation
Manual
Gianni
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Issues: Pulleys & Brackets Lowest pulley mount
bent because of angle with respect to pole axis and insufficient fastening.
2nd lowest pulley bracket buckled outward due to est. 100lbs weight of poles + 100lbs friction.
Gianni
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Solution #1 Reinforcements added to the pulleys to avoid outward bending.
Gianni
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Solution #2 New pulley configuration for better stability and rope alignment. Less moment about the pole’s base.
Gianni
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Issue: Pole Saw’s Length Pole saw was not clamped far enough
Tree grips were further out from the pole axis than the tip of the pole saw.
SOLUTION: EXTEND POLE SAW
Gianni
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Issue: Gap on Wheels Excessive gap between
wheels and wheel assembly caused additional wobbling when moving the cart.
SOLUTIONWe placed washers to
fill the gap.
Gianni
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Additional Issues Encountered Excessive 17mph winds Ropes got tangled and were hectic to deal with LONG SET UP TIME – 30 MIN Winch used to control upper tree grip is annoying to use
backwards Didn’t have legal permission to cut branches from nearby
trees
Gianni
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Operation Manual
Bolivar
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Operation Manual Two main parts:
◦ Assembly of the cart.◦ Operation during cutting.
Cart Assembly:◦ Extend legs of the cart.◦ Attached arm brackets on the extending pole.◦ Pivot pole from horizontal position to vertical.
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Operation Manual Cutting Operation:
◦ Extend pole using the crank ◦ Close arm brackets using crank◦ Cut fruit using camera and ropes
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Operation Improvement Cart Assembly:
◦ Pivoting the pole caused problems. ◦ Arm brackets caused a problems when pivoting
also
Cutting operation◦ Ropes arranged in a better position
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Safety ConsiderationsPROTECTIVE GEAR:
INDUSTRIAL HELMET
SAFETY GOGGLES
GLOVES
Bolivar
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Keep the harvester stationary Check for level groundDo not push/pull the harvester while the poles are extended
BEFORE OPERATION:
Safety Considerations
Use the bullseye from cart
Bolivar
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Fix tree grips to tree before turning on pole saw
Remain attentive for falling branches or fruit
DURING OPERATION:
Safety Considerations
Bolivar
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In case of inclement weather, it is recommended to stop the operation, lower the poles, and resume only after the weather has been cleared.
In case the telescoping pole falls, the operator should immediately stop and exit outside of the range that the pole saw can cover.
DURING OPERATION:
Safety Considerations
43 ft
Bolivar
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CURRENT & FUTURE WORK Monitor acrylic case installed. Test 3 – this weekend!
# of people to prop up the pole vertically
Minimum time to move tree to tree
Time to cut a branch
Poster for EE, IE, & ME open house. Final Report & Presentation
Bolivar
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FUTURE WORK
Bolivar
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Questions, Concerns, Suggestions?