Fast-growing forest pruning robot structure design and climbing control

详细信息    查看全文

• 作者：Guang-Hua Fu ; Xue-Mei Liu ; Yan-Fu Chen ; Jin Yuan
• 关键词：Fast ; growing forest ; Pruning robot ; Structure ; Co ; simulation
• 刊名：Advances in Manufacturing
• 出版年：2015
• 出版时间：June 2015
• 年：2015
• 卷：3
• 期：2
• 页码：166-172
• 全文大小：1,136 KB
• 参考文献：1.Huang Y, Yuan YF, Kong HW (2002) The effect of pruning on growth and wood mechanical properties of Pinus koraiensis. J Northeast For Univ 01:76-7
  2.Kim S, Spenko M, Trujillo S (2008) Smooth vertical surface climbing with directional adhesion. IEEE Trans Rob 24:65-4View Article
  3.Kawasaki H, Murakami S, Hirai K et al (2008) Novel climbing method of pruning robot. In: Proceedings of SICE Annual Conference 2008, Japan, pp 160-63
  4.Ueki S, Kawasaki H, Ishigure Y et al (2011) Development and testal study of a novel pruning robot. Artif Life Robot 16:86-9View Article
  5.Fauroux J, Morillon J (2010) Design of a climbing robot for cylindro-conic poles based on rolling self-locking. Ind Robot 37(3):287-92View Article
  6.Li SW, Wang SY, Wang H et al (2008) Tree pruning cut machinery present situation and development trend. For Mach Woodwork Equip 01:15-6
  7.Xu J (2011) Study on the fuzzy-controlled driving system of plantation pruning robot. Dissertation, Northeast Forestry University, Harbin, China
  8.Wang C, Zhang H, Yu J (2013) Analysis on working principle and existing problem of the pruning machinery of garden and fruit industry. Guangdong Agric Sci 03:176-78
  9.Liu GZ (2006) The mechanism design and kinematics analysis of climbing tree robot. Dissertation, Harbin Engineering University, Harbin, China
  10.Sun W, Huang HS, Wang JL et al (2013) A new type of tree climbing device and its theoretical analysis. For Mach Woodwork Equip 41:20-2MATH
  11.Liu JZ, Liu W, Mao HP et al (2014) Design and coordinated motion simulation of transplanting robot for column cultivation. Trans Chin Soc Agric Mach 45(7):48-3
  12.Xiong JT, Ye M, Zou XJ et al (2013) System design and performance analysis on multi-type fruit harvesting robot. Trans Chin Soc Agric Mach 44(Supp1):230-35
  13.Du YF, Zhu ZX, Mao ER et al (2011) Simulation on small-scale corn harvester for hilly area based on ADAMS. Trans Chin Soc Agric Mach 42(Z1):1-
  14.Du YF, Mao ER, Song ZH et al (2011) Simulation on corn plants in harvesting process based on ADAMS. Trans Chin Soc Agric Mach 43(Z1):106-11
  15.Li YH, Nie LX (2010) ADAMS virtual prototype-based multi-body system dynamics simulation. Eng J Wuhan Univ 43:757-61
  16.Chen K, Yang XJ, Yan H et al (2013) Design and parameter optimization of seedling pick-up mechanism based on Matlab. Trans Chin Soc Agric Mach 44(Supp1):24-6
  17.Alan W (2008) Study of fuzzy control for controllable suspension based on ADAMS and Matlab co-simulation. In: Proceedings of 2008 International Conference on Modelling, Identification and Control, Innsbruck, Austria, February 2008
  18.Xu JZ, Diao Y, Luo H et al (2012) Matlab/Simulink and ADAMS based co-simulation for self-balance robot. Mod Electron Tech 35:90-2
  19.Song KP, Hu PH, Li BS (2007) A control system for parallel manipulator based on Matlab and MCU. Trans Chin Soc Agric Mach 38(5):147-49
  20.Ying ZE, Ping XL, Chen LG (2012) Co-Simulation of double-loop PID control inverted pendulum based on ADAMS and Matlab. J Mech Transm 36:64-7
  21.Huang KY, Chen Q (2012) Robot motion control based on digital PID algorithm. Autom Appl 12:73-5
  
• 作者单位：Guang-Hua Fu (1)
  Xue-Mei Liu (2)
  Yan-Fu Chen (1)
  Jin Yuan (2)
  
  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
  
• 刊物主题：Manufacturing, Machines, Tools; Control, Robotics, Mechatronics; Nanotechnology and Microengineering;
• 出版者：Springer Berlin Heidelberg
• ISSN：2195-3597

文摘

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.