1. Analyze Phase SENIOR DESIGN TEAM 25: PALM HARVESTER

2. Group Members Brian Newman, ME David Boswell, ECE Bolivar Lobo, IE Louis-Olivier Verret, IE Gianni Alessandria, IE Ricardo Aleman, ME Yuze Liu, ME 2 Brian

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) 3 Brian

4. Project Review 1.Previous group constructed an incomplete climbing robot 2.Cart with telescoping pole design was selected 3.Physical models were constructed 4.Pole saw was to move electronically 5.Prototype 1.0 was designed to be more basic 6.Prototype 2.0 will be constructed if testing proves successful Palm Harvester Goal Develop an effective, efficient, and economical oil palm harvester 4 Brian

5. Major Selling Points 5 Bolivar SaferPortable More Affordable

6. Major Selling Points 6 Bolivar Stable Design

7. Design Overview Prototype 1.0 7 Louis

8. Prototype 1.0 COMPONENTS Cutting Tool (A) Telescoping Pole (B) Tree Grips (C) Cart (D) Power/ Auxiliary System (E) 8 A B D & E Oil Palm Palm Harvester R = 5ft H ≤ 40ft h = 4ft Drawing not to scale C Louis

9. Cutting Tool Design 2 DOF: Horizontal and vertical rotation 10 foot long pole saw balanced in center Ropes and pulleys allow for motion 9 Louis

10. Cutting Tool Design Lazy Susan Square Tubes Camera Angle Brackets 10 Louis

11. Telescoping Pole Design 11 6 in Diameter PVC 4 in Diameter PVC 3 in Diameter PVC 2 in Diameter Steel Louis HDPE Bars

12. Telescoping Pole Design 12 Pivot Block Self-locking shoulder screw The pole can fold down Rotate with the pivot block The pole can translate through the hole of the pivot block Alignment Block Louis

13. Tree Grip Design 13 Operation 1.Winch the rope 2.Tension closes grip 3.Release winch 4.Spring opens grip Louis

14. Cart Design 14 Swivel Caster Rigid Caster Winch Monitor Modified cart Perforated Tube Louis

15. Fabrication 15 Brian

16. Delivery 16 DistributorParts IncludedDelivery Date McMaster-CarrSmall components, raw materials1/14/14 Harbor FreightWheels, steel cables1/22/14 Lowe’sCart, pipes, hose, pole saw1/24/14, 2/7/14 PyleCamera/monitor2/4/14 Budget Spent: $1477 Budget Remaining: $523 Brian

17. Cart Reinforcement Cart material was not rigid enough to handle the loads expected 17 Brian

18. Rotating Top Platform Completely assembled 18 Brian

19. Tree Grips Assembly in progress Still need to 3D print slider 19 Brian

20. Power Configuratio n David 20

21. Power Draw On-board Battery MonitorCamera Battery Pack Pole Saw David 21

22. Camera & Monitor Durable Requires waterproofing case 12VDC 8W Waterproof and durable Easy setup Outputs video via RCA cable Waterproof 12VDC 60mA (.72W) David 22

23. Pole Saw Black and Decker 18V Max Lithium Ion Pole Pruning Saw 23 David

24. Current Measurement Setup 24 David

25. Pole Saw Test Information gathered: Average Current Peak Current Average Cutting Time 25

26. Current Data 26 David

27. Power Supply 12VDC battery and charger 7 Amp Hour (84W-hr) - 9.5 hours of use David 27 1.5 Amp-hours (27W-hr) 5 seconds to cut fruit at 6 amps (108W) Cut up to 300 fruits (assuming 5sec/cut )

28. Pole Saw Configuration Pole Saw will be balanced at center of mass Pushbutton used to activate cutting tool Wires will be used for connections David 28

29. Power Configuration 29 David

30. Analysis 30 Brian

31. Tree Grip Force Analysis 31 Brian Analysis in ForceEffect App (iOS) Predicts 10:1 reduction in force Eg. 50lbs tension = 5lbs grip Experiments indicate 20:3 reduction in force Eg. 50lbs tension = 7lbs grip Tension can be up to 100lbs 5lbs 50lbs

32. Center of Gravity Force Analysis Analysis in ForceEffect App (iOS) Weighted poles modeled as thin vertical links What are the reactions? Moments Forces 32 Brian

33. 90°: With vs Without Tree Grips 33 3lb 6lb Moment reduced 87% from 35lb-ft to 8lb-ft Brian

34. 89°: With vs Without Tree Grips 34 3lb 6lb Moment reduced 91% from 85lb-ft to 8lb-ft Brian

35. Wind: With vs Without Tree Grips 35 9lb Moment reduced 97% from 400lb-ft to 11lb-ft 12lb 10lb drag Brian

36. Effect of Tree Grips Overall the tree grips dramatically stabilize the system 36

37. Schedule 37 Bolivar

38. 38 Bolivar

39. Future Plans Assembly In Progress Telescoping Poles Tree Grips Assembly to Being Electrical connections Monitor case Camera mounting 39 Bolivar

40. Future Plans Testing Telescoping pole Camera/Monitor Cutting 40 Bolivar

41. Future Plans Improve 41 Bolivar Prototype 1.0

42. Questions? 42