Annals of Warsaw University of Life Sciences – SGGW
Agriculture No 52 (Agricultural and Forest Engineering) 2008: 13–21
(Ann. Warsaw Univ. of Life Sci. – SGGW, Agricult. 52, 2008)
Precision and energy parameters of the positioned gantry module
1
GINTAS VISELGA, 2JAN R. KAMIŃSKI
1
Vilnius
Gediminas Technical University, Department of Machine Building, Vilnius, Lithuania
2
Department of Agricultural and Forest Machinery, Warsaw University of Life Sciences – SGGW,
Warsaw, Poland
Abstract: Precision and energy parameters
of the positioned gantry module. The course
of the positioned gantry module is maintained
by a laser instrument. A laser beam generator
emitting a vertical beam is placed at the end of
the experimental field. A laser beam catcher with
photo diodes is mounted on a positioned gantry
module replaceable support. Course deviations
were assessed in two cases: when laser, straight-
course maintaining mechanism was mounted at
the same end of the spar as positioning trundle;
and when it was mounted at the middle of the spar.
Furthermore, we estimated how course deviations
vary when changing inter-axial distance of
laser catcher photodiodes. Electromechanical
transmitter was used in the tests. Gantry module
is positioned by a special positioning trundle. It is
run by a 12 V electric motor through a worm self-
-braking reduction gear.
Key words: gantry unit, shuttle movement,
accuracy parameters, positioning, straight-line
course movement.
INTRODUCTION
Gantry unit allows to dispense with
differential global positioning system
(DGPS), since a straight-line course
can be maintained by special permanent
tramlines using cheaper means such
as gyroscopic system or according to
laser beam. Some researchers confirm
that gantry units can be more precise
than DGPS [Holt, Tillet 1989, Quick
1987], and due to the simpler automatic
control system, gantry units can be more
economical [Viselga 2006, Viselga,
Kamiński 2006, Viselga, Bareisis 2003].
There are two types of shuttle movement
gantry units:
• the ones whose chassis together with
the working parts inertly fitted on
gantry spar move along the object
and at headlands they are re-arranged
at working width to the adjacent strip
of land;
• with working parts moving across
the field during operation with the
beam periodically positioned along
the object according to the working
width of the working parts.
The second type has one major
advantage – the discrepancy between
energy needs for the positioning of
spar and for working parts motion
declines the installed power. In order
to integrate the chief potentials in the
shuttle movement gantry module one
has to study the methods for precision
increasing using automatically controlled
more straight forward means that do not
require direct involvement of man. In the
future this would allow to refuse internal
combustion engines in the gantry units
as well as unreeling electric cables and
to change over to the use of other energy
sources [Viselga 1989].
14 G. Viselga, J.R. Kamiński

EXPERIMENTAL OBJECTIVE module deviates from the course, laser

To identify possibilities to reduce
deviations of straight-line course
movement and positioning in relation to
the effect of micro and macro unevenness
of the field, by choosing chassis type,
control methods and parameters, and
to estimate technological and energetic
efficiency of the model.
EXPERIMENTAL METHODS
The course of the positioned gantry
module (PGM) is maintained by a
laser instrument UKL – 1 (УКЛ – 1).
A laser beam generator emitting a
vertical beam is placed at the end of the
experimental field. A laser beam catcher
with photo diodes is mounted on a PGM
replaceable support (Fig. 1). When the
beam is passed into one of the marginal
photodiodes and a signal is formed, which
is passed into the control panel. The
control panel switches off transmitter of
one or the other chassis and when PGM
spar turns perpendicularly to the straight-
line course, the transmitter of the chassis
is turned on again.
PGM is positioned by a special
positioning trundle. It is run by a 12 V
electric motor through a worm self-
-braking reduction gear.
When positioning trundle is running,
a horizontal round tube inertly joined
with it, moves along the bracket with
terminal switches. When running, PGM
bracket with terminal switches moves
along the tube of stopped positioning
trundle. Having moved on motion
limiters, the terminal switch of the

FIGURE 1. Technological scheme of PGM: 1 – spar; 2 – chassis; 3 – working parts stretcher; 4 – rope
of working parts stretcher; 5 – working parts; 6 – working parts fixing carriage; 7 –axis of turning of
working parts; 8 – back disconnectors with the switchover contact; 9 – flexible cable; 10 – cable drum;
11 – horizontal tube with motion limiters; 12 – laser catcher with photodiodes; 13 – positioning trundle;
14 – motor of working parts stretcher; A – distance between centres of photodiodes; B – distance of
catcher’s photodiodes to the spar (B = 1 m); C – catcher’s distance from a wheel positioned the chassis;
ls – spar length (ls = 18 m)
 Precision and energy parameters of the positioned gantry module
electric motor switches off transmitter
of the chassis and switches on motors
of working parts carriage stretcher
and of positioning trundle transmitter.
When positioning trundle has run the set
positioning distance, motion limiters on
the tube press the terminal off switch and
the trundle stops. The distance that PGM
runs between stops, is set by shifting
motion limiters on the tube of positioning
trundle. When the working parts carriage
has moved to the end of its motion, the
terminal switch is pressed, the motor
of working parts carriage stretcher’s
transmitter is switched off and motors of
chassis transmitters are switched on. The
above-described cycles revolve.
Precision of PGM stops in set
positions was measured in series of three
replications. Command to stop by a
signal of an electric control scheme was
given by a mechanism of positioning
trundle.
Precision of PTM stops in a set
position was assessed in the following
way:
• on stopping, special marks were
made on the soil surface according to
special supports in tramlines;
• afterwards a line was stretched within
the length of the experimental plot,
parallel to tramlines at marks in order
to maintain measuring straightness in
the course direction;
• the distance between the marks was
measured by a tape-measure stretched
at the line ties.
PGM straight – line course deviations
were measured along the whole length of
the experimental plot by stretching the
line and tape-measure, leaving the same
distance from the middle of the tramline
at the ends. The imprint of the middle of
15
chassis support wheels protector in the
soil of tramlines was considered as the
middle of tramline. The distance from
the line to the middle of the tramline was
measured by a ruler every 0.5 m. PGM
course deviations were assessed in three
replications in two cases: when laser,
straight-course maintaining mechanism
was mounted at the same end of the
spar as positioning trundle (C = 0); and
when it was mounted at the middle of the
spar (C = ls/2 = 6 m). Furthermore, we
estimated how course deviations vary
when changing inter-axial distance of
laser catcher photodiodes.
Electromechanical transmitter was
used in the tests.
Average soil moisture content in the
tramlines was: 6.1–12.6% at the 50 mm
depth, 8.7–13.2% at the 50–100 mm
depth.
EXPERIMENTAL RESULTS
The right and the left chassis of PGM
move on the surfaces with different
evenness.
According to the experimental data
of tramlines unevenness measuring and
computer chassis simulation programme
developed in the Matlab environment, we
obtained positioning deviation results of
PGM individual chassis run between po-
sitions distances or number of positions
to permissible set position (Fig. 2). They
enable to compare the effects of wheel
chassis tramlines levelling on the correc-
tions of the set straight-line course.
In the case of wheel chassis the
wheels are in contact with the broken
line of tramlines.
16 G. Viselga, J.R. Kamiński

80
Number of positions to corrections both tramlines of chassis not levelled
70
one tramline levelled
60

50

40

30

20

10

0
1 2 3 4
Succession of corrections
FIGURE 2. The effects of tramline on the frequency of course correction

When moving along natural non- chassis is positioned by the trundle, mean
levelled tramlines both tracks need deviation from the straight-line course of
levelling, because levelling of one the right chassis significantly declines,
tramline even increases the number of compared with the first case (75.6 mm)
positions to corrections and increases the (Fig. 4). Its average straight-line course
inter-difference of the distance done by deviation are smaller (25.5 mm). Mean
the chassis in the direction of the course square deviations of straight-line course
during correction. This results from the deviations were 4.1 mm bigger for the
fact that when both chassis move along right chassis.
non-levelled tramlines their unevenness Precision of positioning depends on
compensate one another. the speed of PGM. When increasing the
When positioning trundle and speed from 0.08 m/s to 0.24 m/s, the
photodiodes of laser catcher with A = 30 distance between the left, positioned by
mm inter-axial distance were mounted a trundle, chassis stops in the positions
on the same chassis (C = 0), mean course increased by on average 31 mm, and that
deviation of this chassis amounted to of the right chassis by 20 mm. When the
67.6 mm, and mean square deviation speed is increased from 0.08 m/s to 0.39
±15.0 mm (Fig. 3). Straight-line course m/s, this distance increases by 61 mm and
deviations of the other chassis were 55 mm, respectively. Average positioning
determined by the unevenness of its square deviation of the chassis positioned
tramline and other already-mentioned by a trundle is lower and at a speed of
factors, therefore its mean straight-line 0.08 m/s it reached on average ±32 mm.
course deviation was higher (102.2 An increase in the chassis speed results
mm), and mean square deviation was in an increases in mean square deviation.
considerably higher ±33.9 mm. At a speed of 0.38 m/s it was ±50 mm.
When photodiodes are mounted in the Average square deviations of the
middle of the spar (C = 6 m) and the left distance between positions of the right
 Precision and energy parameters of the positioned gantry module 17

22 160 .
21,5 3
21 3,5 Left chassis
140

Course deviation
20,5 4 Right chassis

of chassis, mm
20 120 4,5
19,5 100 5
19 80 5,5
60
18,5 6
40
18 6,5
20
17,5 0 7

17 7,5
16,5 8

16 8,5

15,5 9
15 9,5
14,5 10 Distance covered
14 10,5 by the chassis, m
13,5 11
13 12,5 12 11,5
FIGURE 3. Course deviation, when positioning trundle and photodiodes of laser catcher were mounted
on the left chassis

19 120 .
18,5 3
Course deviation

Left chassis
of chassis, mm

18 3,5
100 Right chassis
17,5 4
17 80 4,5

16,5 60 5

16 40 5,5

15,5 20 6
0
15 6,5

14,5 7

14 7,5

13,5 8

13 8,5
12,5 9 Distance covered
12 9,5 by the chassis, m
11,5 11 10,5 10
FIGURE 4. Course deviation, when photodiodes are mounted in the middle of the spar and the left
chassis is positioned by the trundle
18 G. Viselga, J.R. Kamiński
chassis positioned according to the bend
of the spar were by on average 1.6–
–2.1 times higher due to differences in
tramline unevenness.
The distance between photodiodes,
when A = 20–30 mm did not have any
significant effect on the positioning
precision of the right chassis positioned
by a trundle. Mean deviations ranged
between 62–64 mm, and mean square
deviations amounted to 19–26 mm, mean
deviations of the other chassis ranged
within wider limits of 29–63 mm, and
mean square deviation when increasing
the distance between photodiodes from
50 to 67 mm, increased by 1.3 times,
from 81 to 104 mm.
On the basis of the above-mentioned
data we can find that positioning speed
is a decisive factor for positioning
precision. With increasing speed, inertia
forces increase when stopping or starting
during positioning, which increases
positioning deviations.
Variation of asynchronous motors
power of electromechanical transmitter
is rather typical (Fig. 5a). During
positioning, the power depended on
the speed of chassis. During automatic
actuation of chassis motors the power
slightly exceeded the mean value. At
0.083 m/s speed of chassis the power
inappreciably fluctuated and amounted
to on average 0.08 kW. During the course
corrections when motors temporarily
switched off, the power declined to zero.
Duration of corrections was about 0.8–
–1.0 s. The power of individual motors
of chassis slightly differed, most likely
due to the different distances covered
during skid.
Motor power of electromechanical
transmitter of rope stretcher of implement
carriage at actuation moments was
at its peak, up to 4.8 kW, and during
stabilisation of implement traction
resistance, declined to 0.74 kW. The
length of peak was 0.8–1.2 s. Due to
these power peaks, the working width of
the implements was limited.
An increase in positioning speed
of PGM with an electromechanical
transmitter to over 0.1 m/s was
complicated due to the impacts during
transitional processes.
Comparison of power utilisation
graphs presented in Figure 5 suggests
that chassis speeds in the case of
electromechanical transmitter were
4.7 times lower, and the power of
chassis differed by 3.7 times, i.e. with
increasing speed the power increases
less. Implement speeds in the case of
hydromechanical transmitter were by
1.76 times higher, and the power 3
times higher compared with implement
carriage pulling using electromechanical
transmitter. This increase in power
occurred due to the flow in throttle
transmitter. When throttling is reduced,
i.e. when revolution frequency is reduced
by a mechanical transmitter, the power
does not increase significantly.
Low power requirement of chas-
sis enables to position chassis even by
a muscle power of man. The power of
implement carriage stretcher is higher
and increases with increasing the work-
ing width of implements. The total re-
quired power can be fully generated by
solar energy photoconverters, having
mounted over the spar and chassis. The
area of PGM cover fitted up from the
photoconverters ls × 2b would be 80–100
m2 for 20 m long spar and would protect
PGM mechanism from precipitation. In
 Precision and energy parameters of the positioned gantry module 19

4,0
Nmax=4,77kW
N, kW

3,5
positioning Work of implement carriage positioning
N=Nk+N d N=N pad N=N k+N d
3,0

2,5 implement carriage

of implement (P pv)N pad)
a) left chassis
of left (N k)(P k)
chassis
2,0 right chassis
of right (Nd)(P d)
chassis
total
totalpower
(P) (N)
1,5
correction correction

1,0

0,5

0,0
0 10 20 30 40 t, s 50

7,0

N, kW positioning
positioning work of implement carriage work of implement carriage
6,0

5,0

4,0

b)
3,0

2,0

1,0

correction correction

0,0
130 135 140 145 150 155 t, s 160

a – in electromechanical transmitter (mean parameters: vchas. = 0,083 m/s Nvaž = 0,89 kW, vpad = 0,57 m/s,
Npad = 0,74 kW)
b – in hydromechanical transmitter (vchas. = 0,390 m/s, Nchas. = 3,29 kW, vimpl. = 1,00 m/s, Nimpl. = 2,21 kW,
intensity of corrections –3)
FIGURE 5. Power variation fragment of asynchronous motors

the long run, it is more viable to use the Wchas. = 0,36q/t =

energy of chemical fuel converters for = 0,36 lpvchas., ha/h (2)
PGM or to combine it with the use of so-
lar energy. where: lp – positioning distance, m.
For the calculation of energy input, Since we cannot add these capacities
it is necessary to estimate the capacities or calculate their average, to find total
and power of implements Wimpl. and PGM capacity we have to calculate
chassis Wchas : working time input per ha of implements
and positioning and to add it. Total PGM
Wimpl. = 0.36 lsBp/tp, =
labour efficiency is calculated as an
= 0.36 Bpvimpl., ha/h (1) inverse value of total working time input.
20 G. Viselga, J.R. Kamiński
E.g. in this way we calculate, that a 40
m-long spar will provide a possibility for
PGM to operate at 0.42 ha/h net labour
efficiency.
Summing up energy input of PGM
positioning and implements in working
positions we can determine total energy
input.
Having adopted the earlier-mentioned
perspective PGM parameters and net
working efficiency: for implements 0.45
ha/h and chassis 7 ha/h, we determined
that energy input of implements work
equals 8.0 kWh/ha, and that of chassis
positioning 0.6 kWh/ha. Therefore, total
energy input can make up only 8.6 kWh/
ha.
CONCLUSIONS
• When automatically controlling
positioned gantry module there has to
be a straight-line course maintenance
system, e.g. according to the laser
beam.
• Accuracy of positioning increases
at reduction of speed of movement
chassis and with that of the connected
forces of inertia of the gantry unit.
• Straight-line course deviations of the
right chassis are reduced by distanc-
ing photodiodes from the straight-line
course positioned left chassis C > 0
and reduction of their inter-axial dis-
tance A. Mean square deviation when
increasing the distance between pho-
todiodes from 50 to 67 mm, increased
by 1.3 times, from 81 to 104 mm.
• Energy input for a single-time soil
loosening at 10 cm of the perspective
PGM amounts to 8.0 kWh/ha, for
chassis positioning 0.6 kWh/ha, the
total energy input can amount only to
about 8.6 kWh/ha.
REFERENCES
HOLT J.B., TILLETT N.D. 1989: The deve-
lopment of a nine metre span gantry for
the mechanized production and harvest-
ing of cauliflowers and other field vegeta-
bles. Journal of agricultural engineering
research. Vol. 43, p. 125–135.
QUICK R.G. 1987: Engineering an agricul-
tural future. Agricultural engineering.
Australia. Vol. 16, p. 8–11.
VISELGA G. 2006: Research of Accuracy
Parameters of the Gantry Course. Solid
State Phenomena, Vol. 113 „Mechatronic
Systems and Materials“, p. 50–54.
VISELGA G., BAREISIS R., SNIAUKA
P. 2003: Investigation of positioning
accuracy of shuttle gantry tillage modules.
Bioagrotechnical systems engineering.
Research papers. Warsaw University of
technology. Poland. No 2–3 (11–12),
p. 127–134. (In Russian).
VISELGA G. 1998: Investigation of the
utilization of the principles of gantry
agriculture in small fields. Doctoral
thesis. Raudondvaris. (In Lithuanian).
VISELGA G., KAMIŃSKI J.R. 2006: Analy-
sis of soil compaction at potato cultiva-
tion. Zeszyty Problemowe Postępów
Nauk Rolniczych, 508: 203–208.
Streszczenie: Precyzja i parametry energetyczne
pozycjonowanego modułu bramowego. Sterowa-
nie pozycjonowaniem urządzenia bramowego
(wózka narzędziowego) odbywa się za pomo-
cą urządzenia laserowego. Generator laserowej
wiązki promieniowania emitujący pionową wiąz-
kę promieni, umieszczony jest na końcu uprawia-
nego pola. Odbiornik laserowej wiązki promieni
z fotodiodami zamontowany jest na module na-
stawczym urządzenia bramowego. Dokładność
pozycjonowania została zbadana dla dwóch przy-
padków, gdy urządzenie laserowe zostało zamon-
towane na końcu wraz z toczącymi się rolkami,
oraz gdy było zamontowane centralnie. Oszaco-
 Precision and energy parameters of the positioned gantry module 21

wano wielkość odchyleń przebiegu procesu w za- Jan R. Kamiński

leżności od zmian wzajemnego położenia emitera
laserowego i fotodiod. W teście użyto nadajnika
elektromagnetycznego. Moduł sterujący zamoco-
wany był na specjalnych rolkach prowadzących.
Do napędu wykorzystano silnik elektryczny zasi-
lany prądem o napięciu 12 V z zabezpieczeniem
termicznym.
Wydział Inżynierii Produkcji SGGW
Katedra Maszyn Rolniczych i Leśnych
02-787 Warszawa, ul. Nowoursynowska 164
Poland
e-mail: jan_kaminski@sggw.pl

MS. received June 2008

Authors’ address:
Gintas Viselga
Vilnius Gediminas Technical University,
Department of Machine Building,
LT-03224 Vilnius, J. Basanaviciaus St. 28,
Lithuania
e-mail: visgin@one.lt