Abstract
The industrial development of cities is the main cause of the destruction and degradation of natural resources around the world. Urbanization negatively affects the species composition of plants, the atmosphere and soil cover of areas of populated areas of large cities of the World. Tree plantations are the main mechanism for stabilizing the ecological situation in large cities and arid territories of the countries of the World. In this regard, in order to obtain a large number of genetically identical plants using their micropropagation, it is necessary to automate the main stages of this technological process. The result of the study is the creation of an adaptive phalanx gripper of a robotic complex for automating the technological process of handling operations. That will have a positive effect on solving the urgent problem of planting greenery in large cities and areas of arid territories not only in the Republic of Kazakhstan, but also in other countries of the World and represents a fundamentally new approach to solving the environmental problems of the Earth. The article substantiates various options for structural-kinematic schemes of the robot gripper, taking into account the stochastic conditions of its interaction with the overloaded object. Mathematical methods have been created for the selection and justification of the geometric, structural-kinematic and dynamic parameters of grippers for overloading plant microshoots and their computer 3D models. Software has been developed for modeling the functioning of a remotely controlled physical prototype of a mobile robot with an adaptive gripper for reloading microshoots from a transport tank to a cargo tank.
Highlights
Tree plantations are one of the ways to improve the ecological situation in the settlements of large cities and arid territories of the countries of the world
The effect of microclonal propagation of plants on an industrial scale to solve the problem of planting greenery in large cities and areas of arid territories in the Republic of Kazakhstan and other countries of the World depends on the degree of automation of the transfer of plant microshoots from the transport tank in vitro to the working tank with soil
The conducted literature review suggests that the article proposes a solution to the extremely urgent problem of creating an innovative robot gripper with its adaptive drive for overloading a plant microshoot, taking into account the stochastic conditions of its interaction with a plant microshoot
Summary
To solve the urgent problem of improving the climate on Earth, a United Nations conference was held in Paris in December 2015, at which all countries of the world were recommended to adopt their national programs to reduce greenhouse gas emissions into the Earth’s atmosphere to improve the climate As it is known, tree plantations are one of the ways to improve the ecological situation in the settlements of large cities and arid territories of the countries of the world. In the Republic of Kazakhstan, the technological process of micropropagation of plants is carried out with the use of human manual labor This circumstance makes it practically impossible to solve the problem of planting greenery in large cities and areas of arid territories of the Republic of Kazakhstan and other countries of the World in this way. The effect of microclonal propagation of plants on an industrial scale to solve the problem of planting greenery in large cities and areas of arid territories in the Republic of Kazakhstan and other countries of the World depends on the degree of automation of the transfer of plant microshoots from the transport tank in vitro to the working tank with soil
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