Engineering of Mechanical Control Kit for Unmanned Grass Cutter

Sivarao, Subramonian and Taufik, , and Khairol Anuar, Rakiman and Lokman , Abdullah and Mohd Shahir, Kassim and Mohd Amri, Sulaiman (2010) Engineering of Mechanical Control Kit for Unmanned Grass Cutter. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This report presents the development of a novel method to semi-automate a grass cutting tractor. Conventional grass cutting tractor that requires to be operated manually posed problems in terms of weather condition, workforce availability, physical hardship, and others that relate to manual labor. The operation requires semi-skilled labor, which can be either expensive or in short supply. Furthermore, there can be labor-imposed constraints that specify when these operations can be performed. The project was initiated by designing and building a mechanism capable of autonomously steer the tractor to move in a radial path. ~ review of similar researches on automated grass cutting tractor was performed, followed by conceptual study on the designs for the mechanism. The approach for the mechanism was to control the steering wheel of the tractor through a steering gear and pinion system. The source of motion was from a motor powered by the battery of the tractor and transmitted via belt pulleys and worm gear reducer to the pinion. Prototype mechanism has been constructed, and tests in the field have shown that the guided tractor was able to run autonomously in a radial path and the mechanism operated reliably. F1eld experimentations, demonstrating the capabilities of the mechanism system, were reported and discussed. The time consumed for the motion of inward spiral was 3 minutes and 3 seconds, while for outward spiral was 4 minutes and 21 seconds. The radius of the furthest spiral path was 13.50m; an area of about 572.63m2. These results were approximated with the theoretical result which is 4 % minutes for the wheel turning to maximum radius from zero. Among the factors that affect the theoretical duration of the field experimentation result are the terrain contour, field size, tractor running speed, and tire pressures. Further improvements to the mechanism were recommended in order to improve the cutting coverage and ease of use.

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