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Advances in Manufacturing
Published in: Advances in Manufacturing 2/2015

01-06-2015

Fast-growing forest pruning robot structure design and climbing control

Authors: Guang-Hua Fu, Xue-Mei Liu, Yan-Fu Chen, Jin Yuan

Published in: Advances in Manufacturing | Issue 2/2015

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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.
previous article Production network flexibility: case study of Norwegian diary production network

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Metadata
Title
Fast-growing forest pruning robot structure design and climbing control
Authors
Guang-Hua Fu
Xue-Mei Liu
Yan-Fu Chen
Jin Yuan
Publication date
01-06-2015
Publisher
Shanghai University
Published in
Advances in Manufacturing / Issue 2/2015
Print ISSN: 2095-3127
Electronic ISSN: 2195-3597
DOI
https://doi.org/10.1007/s40436-015-0114-5

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