CHAPTER III

METHODOLOGY

This research is applicable on agricultural use. This research entitled as

Design and Development of Automated Seed Sowing and Watering Robot. This

research consists of four (4) subsystems that function as a whole part to do some

sowing of seeds. These subsystems are the following: mobility system, dibbler

system, soil filler system and hopper system. As shown in Figure 3.1:

Thorough research is required to support the data from various sources

DESIGNING such as internet, journals, thesis papers that will help achieve the
objectives.

Applying all the acquired data and integrates them into a one working
PROTOTYPING automated robot to evaluate a new design and to enhance precision.

TROUBLESHOOTING Testing the complete prototype and test on each subsystem and test if
AND TESTING there are any possible technical problems.

GATHERING OF Gather the data needed through running the prototype and collect the
DATA needed data to be evaluated.

Evaluate the prototype based on the required parameters.

EVALUATION

Figure 3.1The Flow Diagram of Methodology

3.1 Research Design

One of the function of the robot is to sow or plant seeds specifically the

pechay, which is a seed that suitable for the research because the pechay utilizes

small mechanism consists of a dibbler that enclosed in a cylindrical housing. The

dibbler produces a linear downward motion that bore the soil which is similar to

cylindrical actuators. The driver of the dibbler is servo and coupled into a rotary disk.

The researchers decided to choose the servo because the enormous torque it can

produce to drive the dibbler. The engineering plastic which is a commonly used for

making gears and pulleys machined by the lathe machine to turn into rotary disk. The

linkage is connected between the rotary disk and the dibbler. The concept of

transmitting power is similar to four (4) bar linkage area (specififically the area and

height of the pechay).

3.1.1 Working Components

 Arduino Uno

The microcontroller is a device that stores a program and enables the machine

to work according to the installed program. It relays the function to other

devices/instrument and executes such command.

Figure 3.1 Arduino Uno

  Magnetometer

Magnetometer HMC5883L measures the direction and magnitude of the Earth’s

magnetic field and hence is used for low cost compassing and magnetometry. It

measures the Earth’s magnetic field value along the X, Y and Z axes from milli-gauss

to 8 gauss. It can be used as a compass to find direction or to find the direction of

heading of a device. It helps stabilize the mobility of the machine.

Figure 3.2 Magnetometer

 Relay Module

A relay module is used for the switching of the DC motors. It is used for the

isolation of the two (2) DC motors because it draws much more current compare to

the other components of the robot.

Figure 3.3 Relay Module

  12 Volt Lithium Ion Battery

It is the main power source of the robot with having a 12 volt rating that supply

power on different components of the robot.

Figure 3.4 12 Volt Lithium Ion Battery

 DC Motor

The two (2) DC motors are used as the drivers of the caterpillar treads. Each DC

motors are coupled to the left and right caterpillar treads. The DC motors have greater

torque and low rpm that best fit to our robot.

Figure 3.5 DC Motor

  DC Servo Motor

DC Servo motors are used to drive the linkages of the robot. The Hi TEC HS-

322HD Standard Heavy Duty Servos are used because it have a high torque rating of

3.35 kg-cm or equivalent to 0.33 N-m and angular speed rating of 0.17 sec/60° or

equivalent to 6.16 rad/sec. The ratings are best for the minimum requirement of the

machine.

Figure 3.6 DC Servo Motor

 Caterpillar Treads

The continuous track or the caterpillars tread being used for the mobility of

the robot. It is the preferred design because it provides greater traction between treads

and soil to prevent the robot from slipping especially on the moist soil.

Figure 3.6 Actual Caterpillar Figure 3.7 SketchUp of

Treads Caterpillar Treads
  Breadboard

Breadboard is used for the mounting of electronic components and wired them

from one point to another terminal connection. It is more convenient to use

compare to the Printed Circuit Board (PCB) usually when the time of

troubleshooting.

Figure 3.7 Breadboard

 Limit switch

It is responsible for controlling machinery as part of a control system, as a

safety interlocks, or to count objects passing a point.

Figure 3.8 Limit Switch

 3.2 Research Development

The Figure 3.9 shows the proposed design of the prototype Design and

Development of Automated Seed Sowing Machine. This is where all the components

are already assembled.

Figure 3.9 Isometric view of the prototype

 Block Diagram

On Figure 3.10 shows the block diagram of the Automated Seed Sowing Robot.

It shows the blocks that represent the components of the robot. It consists of

magnetometer, Arduino board, relay module, DC motor, DC servo motor, limit

switch and 12 volt battery. The arrow represents the flow of the signals and currents

of each component.
. Figure 3.10 The block diagram of the
Automated Seed Sowing Robot

 Dibbling Mechanism

On the Figure 3.11 shows the dibbling mechanism it is responsible for digging

the soil. It consists of high torque DC servo motor coupled with spur gear as a pinion,

rack, limit switch, slider and the dibbler. The rack is attached with respect to the body

of the dibbler. The dibbler will create a linear motion supported by the slider to keep

it aligned always. As the DC servo turns, the rack will move also the dibbler itself,

then the dibbler can dig soil because of its pointed shape.
 Figure 3.11 Dibbling Mechanism

 Calculations on Dibbling Mechanism

DC Servo Motor Specification

Servo: Hi TEC HS-322HD Standard Heavy Duty Servo

Angular Velocity (): 0.17 sec. /60° or equivalent to 6.16 rad/sec.

Torque (): 3.35 Kg-cm or equivalent to 0.33 N-m

Force Exerted by the Gear

Given: r= 2.54 cm = 0.0254 m (Radius of the Gear)

F = /r

F = 0.33N-m/0.0254m
 F1 = 12.60 N

Total Weight of the Dibbler

Given: m1 = 0.7 Kg (Mass of the Dibbler)

m2 = 0.050 Kg (Mass of the Rack)

g = 9.81 m/s2 (Earth’s Gravitational Constant)

F = (m1+ m2)g

F = [(0.7+0.050) kg](9.81 m/s2)

F2 = 7.36 N

Summation of Forces

Given: F1 = 12.60 N (Force Exerted by the Gear)

F2 = 7.36 N (Total Weight of the Dibbler)

``F = F1 - F2

F = [(12.60-7.36)N]

F = 5.24 N (Therefore, the DC Servo motor can lift the dibbler upward)
The Figure 3.12 shows the vectors of force exerted by the servo and rotation of the

servo.

Figure 3.12 Vectors of Force and Rotation

Linear Velocity of the Servo of Dibbler

Given: N = 58.83 rev/min (RPM)

r= 2.54 cm = 0.0254m (Radius of the Gear)

VL = N2r

VL = (58.83 rev/min)(2)(3.14)( 0.0254m)(1/rev)(min/60sec)

VL = 0.16 m/s

Displacement of the Dibbler

Given: d = 2.75 in

d,(in m) = (2.75 in)(0.0254 m/in)

d,(in m) = 0.0699 m

Time of Dibbler to Fully Extend

Given: d = 0.0699 m

VL = 0.16 m/s

t = d/ VL

t = 0.0699 m/ 0.16 m/s

t = 0.44 s

Force of Exerted by the Dibbler

Given: VL = 0.16 m/s (Linear Velocity of the Servo)

Vi = 0 m/s (initial velocity of the Servo)

m = 0.750 Kg (Total Weight of the Dibbler)

F = ma

F = [(0.750)kg)][ (0.16-0)m/s]/0.44 s

F = 0.27 N (The downward force of dibbler when digging)

 The Figure 3.13 shows the displacement of the dibbler. It displaces 2.75

inches which is approximately equal to 0.0699 meter.

Figure 3.13 Displacement of the Dibbler

 Calculations on Mobility Mechanism

Power Consumption of Each Geared DC Motor

Given: N = 65 rev/min (RPM)

 = 0.981 N-m (Torque of Geared DC motor

P = 2N

P = (2)()(65 rev/min)( 0.981 N-m)(min/60 s)(1/rev)

P = 6.68 Watts (Therefore, the two (2) DC motors consume 13.36 Watts)

 Soil Filling Mechanism

The Figure 3.14 shows the laying of the seed into the soil is already done, the soil

filler will be lowered from its initial position. Covering of the seed is important to

provide contact between the seed and the soil therefore the absorption of nutrients

will be assured.

Figure 3.14 Soil Filling Mechanism

  Hopper Mechanism

The Figure 3.15 shows the hopper mechanism and the exact location on the

machine as shown on the exploded view.

Figure 3.15 Hopper Mechanism

Figure 3.16 shows the exploded components of the prototype. The prototype

used the components; dibbler, caterpillar tread, hopper, soil filler, magnetometer

module, servo, casing, control box, Arduino board, relay module, bread board, 12V

battery, limit switch and DC motor.

Equivalent Name of Each Component

A – Arduino Uno H – Geared DC Motor

B – Relay Module I – Caterpillar Treads

C – Breadboard J – Dibbling Mechanism

D – Casing K - Hopper

E – Power Switch L – Hopper Mechanism

F – Limit Switch M – Li-Ion Battery

G – Soil Filling Mechanism N – DC Servo Motor

 Figure 3.16 Exploded view of the prototype

3.3 The Implementation

In order to determine the effectiveness of the prototype, the researchers will

conduct a testing and troubleshooting session to ensure its functionality and

efficiency. The Sample will be unshelled groundnut and some soil adhered to shell.

The sample will be sun dried for one day to remove moisture contend. After taking

reading, calculating total sample reading and this total reading will give the mean.

This mean reading will help for calculating results of the automated peanut shelling

machine.

3.4 The evaluation

The researchers had different parts of evaluating the prototype through its

efficiency, working components and aesthetics. The troubleshooting and test

evaluation of the prototype determines the work and principles of the research. The

table is the based evaluation throughout the research prototyping:

EXCELLENT 5

VERY GOOD 4

GOOD 3

FAIR 2

POOR 1