Diseño y construcción de un sistema de corte para fruto de Palma Africana

Abstract

The present development of a technological device entitled "Design and construction of a system for cutting African Palm fruit", is intended for the technical, social and palm cultivation field. It is a system made up of a passive exoskeleton for upper limbs with two degrees of freedom. Which helps the user to maintain the position and has the ability to reduce a certain fraction of muscular activity of the arms when making the cut. For the design of the exoskeleton, the regulations of the Ecuadorian standardization institute NTE INEN-ISO 7250-1 were taken into account, as well as the Regulations on safety and health of workers and improvement of the work environment. The prototype was made with both mechanical and electrical components and materials that are easily available in the Ecuadorian market focused on Latin American anthropometric measurements and human biomechanics. For the mechanical design, finite element simulations were performed for static analysis of the elements in Inventor. For the design of the electrical control system, the identification of the plant was implemented with the support of Matlab software to determine the transfer function that describes the behavior of the system and also determine the parameters of the PID controller that is implemented in Arduino. With the design parameters, the position and orientation of the exoskeleton are determined, which allow the operator to carry out the African palm harvesting activity in an ergonomic environment with respect to its cutting posture, in addition to being an easy-to-assemble prototype that allows pleasant movement. of the operator.