A cable driven parallel robot for coconut farm

This paper presents a cable driven parallel robot for automating the process of coconut dehusking in large and medium sized farms. The robot assists the mechanized dehusking process by performing the activity of fetching coconuts from a heap and autonomously loading them into a dehusking machine's hopper. The idea is to have the existing dehusking machines to be setup right next to a coconut heap in a farmland and get the dehusking operation done with minimum human assistance. The use of a cable robot system in such highly unstructured environment requires it to be portable and reconfigurable. An efficient anchor point estimation technique and installation procedure is presented in the paper along with the system concept. The paper also discusses the kinematic design and workspace analysis of the proposed cable robot.