Two Degrees of Freedom Orchard Spraying Mechanism

Abstract

Pakistan is an agricultural country and it is highly important sector, but our way of spraying pesticides and fertilizers on a large scale are outdated, and farmers are untrained while handling toxic pesticides, which is detrimental to the health of the crops as well as their own well-being as miss-handling of such chemicals can cause a lot of health hazards. The aim of this project is to replace farmers with an autonomous robotic manipulator mounted on an Un-manned Ground Vehicle (UGV) that sprays the optimum amount of pesticide where it is required. With the help of this intelligent system, the old, outdated and in-efficient ways can be replaced, and the lives of farmers can be improved and made less hazardous. In this project, addition of Two Degree of Freedom is presented as an additional product for the purpose of employing it as a lead vehicle in agricultural convoys. The main objective of this paper presents the development of accurate and precise feedback system of the spray mechanism with the addition of elevation and azimuth motions of spray (2 DOF). The adopted control architecture consists of a remote terminal which will be controlled through robust communication mechanism using wireless module.