Budget

      The total cost of the Coconut Harvesting drone adds up to $4256. Table 2 shows the breakdown of the different parts of the drone. This amount is a rough estimate as there are many variables.  Unforeseen issues may arise during the building and testing process, which may lead to the purchase of more items. Additional miscellaneous items such as cables and adapters will also need to be purchased when building the Coconut Harvesting Drone. However, it is safe to say that the total cost will be about $4,300. At this price range, the Coconut Harvesting Drone is geared more towards coconut harvesting plantations and companies rather than the general consumers. As drone technology advance and decreases in cost in the future, the Coconut Harvesting Drone can become more affordable for the consumers. 

                                     Table 2: Budget for the Coconut Harvesting Drone Parts

Category	Item Name	Qty	Projected Cost
Drone	Allied Drones HL88 "Nemesis"	1	~$ 2,000
Robotic Arm	7 bot robotic arm	1	~$ 1,800
Battery	DC HOUSE 6800mAh DC 12V Super Rechargeable Emergency Power Li-ion Ba	2	$ 72.00
12 V to 7.5 V DC converter	DROK® Buck Voltage Reducer Converter 12V to 7.5V 3A/22W Step-down Power Module DC/DC Voltage Transformer Regulator	2	$ 18.00
Brushless DC motor	Turnigy Park300 Brushless Outrunner 1380kv	1	$16.00
Blade hub	FingerTech Blade Hub	1	$15.00
Saw blade	SE SS40SM High Speed Saw Blade with 1/8" Shank Mandrel	1	$5.00
Camera	SportShot® - Full HD 1080P 12 MP Waterproof Sports Camera Cam		$ 50.00
Radio transmitter	Futaba 8JH 2.4GHZ S/FHSS with R2008SB M2 Transmitter	1	$280.00
TOTAL			$4256.00

Drone

The drone is the most essential aspect of this project and makes up the majority of the budget. The exact pricing for Allied Drones HL88 "Nemesis" could not be found, but multiple sources showed that it costs about $2000 [19]. It is an octocopter, and has a payload capacity of 8.2 kg. It comes with a 16,000-mAh battery. This drone was chosen because of its high payload and a maximum flight time of 30 minutes. Since only 3.28 kg out of the 8.2kg payload is being utilized, the expected flight time should be closer to the maximum.

Robotic Arm

The robotic arm chosen to mount the saw end effector was 7bot. This robotic arm has a maximum reach of about 43.4 cm, which will enable the saw blade end effector to reach the coconut leaves, even though some leaves may hinder the drone from reaching close to the coconut stalk. This arm could be controlled remotely using Bluetooth. This control will be independent from the radio for the drone.  This arm is powered using a 7.5 V DC supply. This arm also has a gripper which can hold the saw blade end effector without any other mechanical fasteners.

Battery and DC converter

A light weight 12 V battery and a DC converter that would step down the voltage from 12 V to 7.5V was selected. Since no standard batteries provide 7.5 V, a converter was selected to step down the most commonly found 12 V battery. This battery - adapter combination has only about 400g.

Saw blade end effector

 A high speed brushless DC motor, saw blade and a hub was chosen to produce the saw blade end effector. This lightweight configuration weighs only about 80 g and can easily be held by the gripper on the robotic arm. This configuration is also powered by same battery - converter system designed to power the robotic arm.

Camera

The camera will be used for navigation and as one of the main methods of identifying a ripe coconut. The HL88 "Nemesis" does not come with a camera, so a separate camera is necessary. The SportShot sports camera is lightweight and can capture Full HD video.

Radio transmitter

The 8 Channel Futaba transmitter was used because it is a widely used radio for commercial drones. Also the 8 channels will enable the ground controller to have precise control of the drone.