A novel design of anti-falling mechanism for tree pruning robot
A novel design of anti-falling mechanism for tree pruning robot
复制标题
一种新型树木修剪机器人防坠落机构设计
DOI：
10.1109/iciea.2015.7334222
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
S. Mukhopadhyay
中科院分区：
文献类型：
--
作者：
Pengfei Gui;Liqiong Tang;S. Mukhopadhyay
本文介绍了一种新型爬树机器人的机构设计。该设计的独特之处在于被动式和主动式防坠机构。被动防落机构依靠摩擦力来克服机器人的重力，而主动防落功能利用两个步进器提供的动力来调节车轮轮胎表面与树干之间的法向力。在SolidWorks中对整枝机器人的设计进行建模，并利用Simmechanics对其进行仿真。仿真结果与分析结果吻合较好。
This paper presents a mechanism of a novel tree pruning robot that is designed to climb up a tree. The unique feature of the proposed design is the passive and active anti-falling mechanism. The passive anti-falling mechanism relies on the frictional forces to overcome the robot gravity force while the active anti-falling function uses the power provided by two steppers that is able to adjust the normal forces between the tire surfaces of the wheels and the tree trunk. The design of the pruning robot is modelled in SolidWorks and simulated using Simmechanics. The outcome of the simulation matches with the analysis result.