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Fast-growing forest pruning robot structure design and climbing control

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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.

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Acknowledgments

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).

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Authors and Affiliations

  1. School of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian, 271018, Shandong, P.R. China

    Guang-Hua Fu & Yan-Fu Chen

  2. Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment, Taian, 271018, Shandong, P.R. China

    Xue-Mei Liu & Jin Yuan

Authors
  1. Guang-Hua Fu
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  2. Xue-Mei Liu
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  3. Yan-Fu Chen
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  4. Jin Yuan
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Correspondence to Jin Yuan.

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Fu, GH., Liu, XM., Chen, YF. et al. Fast-growing forest pruning robot structure design and climbing control. Adv. Manuf. 3, 166–172 (2015). https://doi.org/10.1007/s40436-015-0114-5

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  • DOI: https://doi.org/10.1007/s40436-015-0114-5

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