Fast-growing forest pruning robot structure design and climbing control

doi:10.1007/s40436-015-0114-5

Advances in Manufacturing ›› 2015, Vol. 3 ›› Issue (2): 166-172.doi: 10.1007/s40436-015-0114-5

• • 上一篇

Fast-growing forest pruning robot structure design and climbing control

Guang-Hua Fu¹, Xue-Mei Liu², Yan-Fu Chen¹, Jin Yuan²

1 School of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, Shandong, P.R. China;
2 Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment, Taian 271018, Shandong, P.R. China

收稿日期:2014-12-29 修回日期:2015-05-08 出版日期:2015-06-25 发布日期:2015-06-18
通讯作者: Jin Yuan E-mail:jyuan@sdau.edu.cn
基金资助:
This work was supported by the Science and Technology Development Program of Shandong Province (Grant No. 2013GNC11203), the National Natural Science Foundation of China (Grant Nos. 51475278 & 3110146) and the National Key Technology R&D Program (Grant No. 2014BAD08B01-2).

Fast-growing forest pruning robot structure design and climbing control

Guang-Hua Fu¹, Xue-Mei Liu², Yan-Fu Chen¹, Jin Yuan²

1 School of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, Shandong, P.R. China;
2 Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment, Taian 271018, Shandong, P.R. China

Received:2014-12-29 Revised:2015-05-08 Online:2015-06-25 Published:2015-06-18
Contact: Jin Yuan E-mail:jyuan@sdau.edu.cn
Supported by:
This work was supported by the Science and Technology Development Program of Shandong Province (Grant No. 2013GNC11203), the National Natural Science Foundation of China (Grant Nos. 51475278 & 3110146) and the National Key Technology R&D Program (Grant No. 2014BAD08B01-2).

摘要/Abstract

摘要： 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 drivingmotor and the compression springwere 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.

关键词: Fast-growing forest, Pruning robot, Structure, Co-simulation

Abstract: 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 drivingmotor and the compression springwere 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.

Key words: Fast-growing forest, Pruning robot, Structure, Co-simulation

Guang-Hua Fu, Xue-Mei Liu, Yan-Fu Chen, Jin Yuan. Fast-growing forest pruning robot structure design and climbing control[J]. Advances in Manufacturing, 2015, 3(2): 166-172.

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Fast-growing forest pruning robot structure design and climbing control

Fast-growing forest pruning robot structure design and climbing control

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