Abstract
The advances in technologies that include agriculture have reached relevant proportions, when dealing with the process of automation of agricultural greenhouses, made in “smart greenhouses”. In general, the 3DoF Cartesian robots PPP-type Gantry perform development in a movement composed of three translations, with their axis of movement coinciding with a Cartesian reference coordinate system. This work proposes and develop a self-aligning analysis in a Gantry robot, verifying its redundant mobility and constraints highlighting the respective advantages and properties, both in the mechanism assembly and in full operation, avoiding misalignments, since the robot will move along rails. The development base uses the Reshetov method to analyze the parameters of the mechanism, to propose a self-aligned conception and its possible representations.
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Acknowledgments
The authors would like to express their gratitude to CNPQ (National Council for Scientific and Technological Development) and UFSC (Federal University of Santa Catarina) for the support this project (SIGPEX Number: 202002173, 202023266 and 202002437) with scientific initiation, master and doctoral research.
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Bernardon Machado, L., Valdiero, A.C., Simas, H., Martins, D. (2022). Analysis of a Proposal for a Self-aligning Mechanism for Cartesian Robot in Greenhouses. In: Pucheta, M., Cardona, A., Preidikman, S., Hecker, R. (eds) Multibody Mechatronic Systems. MuSMe 2021. Mechanisms and Machine Science, vol 110. Springer, Cham. https://doi.org/10.1007/978-3-030-88751-3_4
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DOI: https://doi.org/10.1007/978-3-030-88751-3_4
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