Task-Specific Synthesis and Design of a mobile six-DoF Hexa Parallel Robot for Weed Control

Abstract

In automated weed control, kinematics of varying complexity are required for tool guidance, depending on the weeding principle. Mechanical tools in particular require several degrees of freedom (DoF) in order to operate in a plant-specific way, which can be realized by parallel kinematic machines due to their dynamic performance. The development of a kinematic structure under task-specific requirements is done using combined structural and dimensional synthesis and a detailed manual design stage, which leads to a new variant of the six-DoF Hexa robot.