Fast-growing forest pruning robot structure design and climbing control
Fast-growing forest pruning robot structure design and climbing control
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DOI：
10.1007/s40436-015-0114-5
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发表时间：
2015-06-01
影响因子：
5.2
通讯作者：
Yuan, Jin
中科院分区：
文献类型：
--
作者：
Fu, Guang-Hua;Liu, Xue-Mei;Yuan, Jin
根据速生林修剪作业的需要，研制了修剪机器人。介绍了修剪机器人的结构和控制系统，阐述了修剪机器人的工作流程。通过力平衡分析，确定了驱动电机和压缩弹簧的类型和结构。通过ADAMS和MatLab联合仿真，解决了修枝机器人的倾斜问题，确定了爬升机构的控制方案。样机的实验结果表明，修剪机器人能够以20 mm/S的速度顺利爬上树干，并穿过凸起的树干。由变速电机驱动的修枝锯可切割30 mm的树枝。枝条残留量小于5 mm。修剪机器人能够满足速生林修剪作业的实际要求。
According to the requirement of fast-growing forest pruning operation, the pruning robotwas developed. The structure and control system of pruning robot were described, the work flow of pruning robot was expounded. The type and structure of the driving motor and the compression spring were decided with force-balance analysis. The tilt problem of pruning robot was resolved by ADAMS and Matlab co-simulation, and the control scheme of climbing mechanism was determined. The experiment results of the prototype indicate that pruning robot can climb tree trunk smoothly at a speed of 20 mm/s and cross the raised trunk. The pruning saw which is driven by the adjustable speed motor can cut the branches of 30 mm. And the residual amount of branches is less than 5 mm. Pruning robot can meet the practical requirements of the fast-growing forest pruning work.