Robot workcell for transplanting of seedlings. Part I. Layout and materials flow

K. C. Ting, Gene A Giacomelli, S. J. Shen

Research output: Contribution to journalArticle

31 Citations (Scopus)

Abstract

The transplanting of seedlings from high density plug trays into low density growing flats, as currently practiced in the bedding plant production systems, was the operation studied within a prototype workcell utilizing a Selective Compliance Assembly Robot Arm (SCARA) type robot. The concept of a multi-stop local work trajectory surrounding each seedling was incorporated into the workcell design consideration. The trays and flats were envisioned to flow across each other's path at different heights within the workcell. A straight-line robot wrist motion was used between the locations on a tray and a flat. A computer program for checking the interactions of the workcell layout, the robot motions and the flows of materials was developed. The average robot wrist horizontal travel distance per transplanting (AHT) for a given workcell could be readily calculated using this computer program. The AHT was evaluated for its use as an indication of the performance of any given workcell design. For the 12 cases studied, the AHT ranged from 0.381 m to 0.993 m which was found to correlate well with the average cycle time per transplanting.

Original languageEnglish (US)
Pages (from-to)1005-1010
Number of pages6
JournalTransactions of the American Society of Agricultural Engineers
Volume33
Issue number3
StatePublished - May 1990
Externally publishedYes

Fingerprint

robots
transplanting (plants)
Wrist
Seedlings
Software
seedling
Robots
software
trays
seedlings
production system
Compliance
compliance
trajectory
Computer program listings
bedding plants
prototypes
travel
trajectories
production technology

ASJC Scopus subject areas

  • Agricultural and Biological Sciences (miscellaneous)

Cite this

Robot workcell for transplanting of seedlings. Part I. Layout and materials flow. / Ting, K. C.; Giacomelli, Gene A; Shen, S. J.

In: Transactions of the American Society of Agricultural Engineers, Vol. 33, No. 3, 05.1990, p. 1005-1010.

Research output: Contribution to journalArticle

@article{7a913bb367684138bf6cd2c13f24e790,
title = "Robot workcell for transplanting of seedlings. Part I. Layout and materials flow",
abstract = "The transplanting of seedlings from high density plug trays into low density growing flats, as currently practiced in the bedding plant production systems, was the operation studied within a prototype workcell utilizing a Selective Compliance Assembly Robot Arm (SCARA) type robot. The concept of a multi-stop local work trajectory surrounding each seedling was incorporated into the workcell design consideration. The trays and flats were envisioned to flow across each other's path at different heights within the workcell. A straight-line robot wrist motion was used between the locations on a tray and a flat. A computer program for checking the interactions of the workcell layout, the robot motions and the flows of materials was developed. The average robot wrist horizontal travel distance per transplanting (AHT) for a given workcell could be readily calculated using this computer program. The AHT was evaluated for its use as an indication of the performance of any given workcell design. For the 12 cases studied, the AHT ranged from 0.381 m to 0.993 m which was found to correlate well with the average cycle time per transplanting.",
author = "Ting, {K. C.} and Giacomelli, {Gene A} and Shen, {S. J.}",
year = "1990",
month = "5",
language = "English (US)",
volume = "33",
pages = "1005--1010",
journal = "Transactions of the ASABE",
issn = "2151-0032",
publisher = "American Society of Agricultural and Biological Engineers",
number = "3",

}

TY - JOUR

T1 - Robot workcell for transplanting of seedlings. Part I. Layout and materials flow

AU - Ting, K. C.

AU - Giacomelli, Gene A

AU - Shen, S. J.

PY - 1990/5

Y1 - 1990/5

N2 - The transplanting of seedlings from high density plug trays into low density growing flats, as currently practiced in the bedding plant production systems, was the operation studied within a prototype workcell utilizing a Selective Compliance Assembly Robot Arm (SCARA) type robot. The concept of a multi-stop local work trajectory surrounding each seedling was incorporated into the workcell design consideration. The trays and flats were envisioned to flow across each other's path at different heights within the workcell. A straight-line robot wrist motion was used between the locations on a tray and a flat. A computer program for checking the interactions of the workcell layout, the robot motions and the flows of materials was developed. The average robot wrist horizontal travel distance per transplanting (AHT) for a given workcell could be readily calculated using this computer program. The AHT was evaluated for its use as an indication of the performance of any given workcell design. For the 12 cases studied, the AHT ranged from 0.381 m to 0.993 m which was found to correlate well with the average cycle time per transplanting.

AB - The transplanting of seedlings from high density plug trays into low density growing flats, as currently practiced in the bedding plant production systems, was the operation studied within a prototype workcell utilizing a Selective Compliance Assembly Robot Arm (SCARA) type robot. The concept of a multi-stop local work trajectory surrounding each seedling was incorporated into the workcell design consideration. The trays and flats were envisioned to flow across each other's path at different heights within the workcell. A straight-line robot wrist motion was used between the locations on a tray and a flat. A computer program for checking the interactions of the workcell layout, the robot motions and the flows of materials was developed. The average robot wrist horizontal travel distance per transplanting (AHT) for a given workcell could be readily calculated using this computer program. The AHT was evaluated for its use as an indication of the performance of any given workcell design. For the 12 cases studied, the AHT ranged from 0.381 m to 0.993 m which was found to correlate well with the average cycle time per transplanting.

UR - http://www.scopus.com/inward/record.url?scp=0025431468&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0025431468&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:0025431468

VL - 33

SP - 1005

EP - 1010

JO - Transactions of the ASABE

JF - Transactions of the ASABE

SN - 2151-0032

IS - 3

ER -