Fast-growing forest pruning robot structure design and climbing control

Abstract

According to the requirement of fast-growing forest pruning operation, the pruning robot was 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.

Keywords

Fast-growing forest / Pruning robot / Structure / Co-simulation

Funding

Science and Technology Development Program of Shandong Province(2013GNC11203)

National Natural Science Foundation of China http://dx.doi.org/10.13039/501100001809(51475278)

National Key Technology R&D Program(2014BAD08B01-2)