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Design & Verify Phase

Design & Verify Phase. Senior Design Team 25: Palm Harvester. 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. Advisors. Dr . Okoli (Sponsor )

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Design & Verify Phase

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  1. Design& Verify Phase Senior Design Team 25: Palm Harvester

  2. 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

  3. 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

  4. Project Review Palm Harvester Goal Develop an effective, efficient, and economical oil palm harvester Louis

  5. Define Phase • Goal • Construct a semiautonomous oil palm harvesting machine • Budget • $2,000 • Expectations • Consider safety, affordability, efficiency and reliability

  6. House of Quality

  7. Customer requirements

  8. Quality characteristics

  9. Results

  10. Measure Phase • Brainstormed Cart with Telescoping Pole • Built a small mechatronic prototype • Developed the Mechatronic Concept

  11. Cart with Telescoping Pole Concept Components A • Cutting Tool (A) • Telescoping Pole (B) • Tree Grips (C) • Cart (D) • Power/ Auxiliary System (E) R = 5ft B H ≤ 40ft C Palm Harvester Oil Palm Drawing not to scale h = 4ft D & E Ricardo

  12. Analyze Phase • Overview of the design • Fabrication • Delivery of most components

  13. Recap of the Design Phase Louis

  14. Test 1 Design Phase Goal: Extending Pole Winch Cart Louis

  15. Results of Test Positives Issues Unstable Poles Sliding Experienced Cart veered left Rotation of the extending pole Pivot block had incorrect threading • Winch • Poles • Reinforcements of cart • Mobility of the cart Louis

  16. Veering of Cart 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 Target Actual Louis

  17. Loose Pivot Ring Issue Solution Add a T-Handle Screw Tightening of pole • Gap Between ring and pole • Need a better way to secure pole inside pivot ring Louis

  18. Loose Pivot Ring Issue Solution Louis

  19. Rotation of Pole Issue Solution Use inner plastic bars to constrain rotation Also use orange tape along tubes to watch for potential rotations • Rotation of the pole during testing • Lead to Failure • Need to constrain pole rotations Louis

  20. 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 Louis

  21. 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 Louis

  22. Assembly Status Louis

  23. Assembly Status • All mechanical subassemblies have been completed! Louis

  24. Verify Phase Gianni

  25. Mounting of the Subassemblies Gianni

  26. Test 2 SETUP TIME & PROCEDURE TREE GRIPS ELECTRONICS CAMERA CUTTING TOOL Gianni

  27. 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. 25ft Gianni

  28. Camera • Mounted camera provided a good view of the tree grip (right below the pole saw) Gianni

  29. 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

  30. 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

  31. Solution #1 • Reinforcements added to the pulleysto avoid outward bending. Gianni

  32. Solution #2 • New pulley configuration for better stability and rope alignment. • Less moment about the pole’s base. Gianni

  33. 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

  34. Issue: Gap on Wheels • Excessive gap between wheels and wheel assembly caused additional wobblingwhen moving the cart. • SOLUTION • We placed washers to fill the gap. Gianni

  35. 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

  36. Operation Manual Bolivar

  37. 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. Bolivar

  38. Operation Manual • Cutting Operation: • Extend pole using the crank • Close arm brackets using crank • Cut fruit using camera and ropes Bolivar

  39. 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 Bolivar

  40. Safety Considerations PROTECTIVE GEAR: SAFETY GOGGLES GLOVES INDUSTRIAL HELMET Bolivar

  41. Safety Considerations BEFORE OPERATION: • Keep the harvester stationary • Check for level ground • Do not push/pull the harvester while the poles are extended • Use the bullseye from cart Bolivar

  42. Safety Considerations DURING OPERATION: • Fix tree grips to tree before turning on pole saw • Remain attentive for falling branches or fruit Bolivar

  43. Safety Considerations 43 ft DURING OPERATION: • 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. Bolivar

  44. 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

  45. FUTURE WORK Bolivar

  46. Questions, Concerns, Suggestions?

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