Page 96 - tech fest 2025 אשדוד חוברת תקצירים

96
Parallel Manipulator for Vertical Farming
ME-C-24
Roman Dunayev; romandu@ac.sce.ac.il
Advisor: Dr. Chen Giladi
SCE - Shamoon College of Engineering, Ashdod
This project details the ongoing development of an enhanced parallel manipulator addressing limitations in motion accuracy, range, and speed, particularly for vertical farming’s confined cylindrical workspaces. Based on a robotic SCARA-inspired linkage, five rods per side, this system integrates precision servo motors, a base rotation mechanism, and a graphical user interface for remote control. A calibration system, employing an iterative optimization technique, is under development— projected to significantly enhance positioning accuracy. This design provides expanded motion range and rapid response for diverse tasks like automated assembly and micro-manufacturing. Utilizing cost- effective 3D printing and standard components, this customizable manipulator promises flexible performance, and more versatility than traditional systems in high-precision environments.
Keywords: 3D printing, parallel manipulator, robotic calibration, “SCARA Robot”, vertical farming
Motion Planning for a Fruit Harvesting Manipulator in Static Conditions
ME-C-25
Moshe Blikstein; moshe0001596@gmail.com
Advisor: Dr. Chen Giladi
SCE - Shamoon College of Engineering, Ashdod
This research addresses the critical challenge of robotic motion planning in vertical farming environments, specifically focusing on scenarios involving robot movement between planters and spatial constraints, such as air conditioners and pipes on building facades. Current robotic solutions often present limitations in efficiently identifying and integrating these obstacles, leading to inefficiencies, collisions, and reduced operational accuracy. This project introduces an innovative automated mapping system designed to enhance motion planning by autonomous identification and spatial constraint mapping. This system also performs path optimization, significantly improving the robot’s precision, response time, and range of movement. Results demonstrate substantial improvements in motion accuracy and efficiency, substantiated by reduced collision rates and optimized pathways for reliable operation in confined environments.
Keywords: autonomous navigation, confined environments, path optimization, spatial constraint mapping, vertical farming robotics