2DOF Aimable Valve
- Wesley Moss
Analytics
In additional to the valve array system, an aimable 2 degree of freedom (DOF) system has been looked at a high level. This is similar to the approach used by Verdant Robotics. However, the 2DOF approach has been explored at a much lower priority than the array system as an array was deemed to be a better fit for the project because:
Array system can operate at higher weed densities (more valves means more shots per second)
Two DOF system increases the software complexity of the targeting system
Given the focus on intrarow weeds (+/- 100mm from the crop centre) and availability of commercial printheads, it was determined that the array was a better fit
However, a 2DOF system does have some interesting use cases and given its use in the Verdant system a rough prototype was developed. This prototype utilise the Lee Company valve.
The prototype system uses two servo motors to rotate about the x and z axes. This isn't the best configuration, as in most cases you need to move both motors to aim the end effector across a straight horizontal line. A better setup would be to have the motors independently linked to an x and y axis around a central pivot point, so that the the end effector can be aimed across a straight horizontal line by only moving one motor.
