A novel design of anti-falling mechanism for tree pruning robot

Pengfei Gui, Liqiong Tang, Subhas Mukhopadhyay

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionResearchpeer-review

Abstract

This paper presents a mechanism of a novel tree pruning robot that is designed to climb up a tree. The unique feature of the proposed design is the passive and active anti-falling mechanism. The passive anti-falling mechanism relies on the frictional forces to overcome the robot gravity force while the active anti-falling function uses the power provided by two steppers that is able to adjust the normal forces between the tire surfaces of the wheels and the tree trunk. The design of the pruning robot is modelled in SolidWorks and simulated using Simmechanics. The outcome of the simulation matches with the analysis result.

LanguageEnglish
Title of host publicationProceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications (ICIEA 2015)
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages812-816
Number of pages5
ISBN (Electronic)9781467373173, 9781479983896
ISBN (Print)9781479984671
DOIs
Publication statusPublished - 2015
Externally publishedYes
Event10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 - Auckland, New Zealand
Duration: 15 Jun 201517 Jun 2015

Other

Other10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
CountryNew Zealand
CityAuckland
Period15/06/1517/06/15

Fingerprint

Robots
Tires
Wheels
Gravitation

Keywords

  • tree pruning
  • robot climbing mechanism
  • antifalling mechanism

Cite this

Gui, P., Tang, L., & Mukhopadhyay, S. (2015). A novel design of anti-falling mechanism for tree pruning robot. In Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications (ICIEA 2015) (pp. 812-816). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICIEA.2015.7334222
Gui, Pengfei ; Tang, Liqiong ; Mukhopadhyay, Subhas. / A novel design of anti-falling mechanism for tree pruning robot. Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications (ICIEA 2015). Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE), 2015. pp. 812-816
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Gui, P, Tang, L & Mukhopadhyay, S 2015, A novel design of anti-falling mechanism for tree pruning robot. in Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications (ICIEA 2015). Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 812-816, 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015, Auckland, New Zealand, 15/06/15. https://doi.org/10.1109/ICIEA.2015.7334222

A novel design of anti-falling mechanism for tree pruning robot. / Gui, Pengfei; Tang, Liqiong; Mukhopadhyay, Subhas.

Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications (ICIEA 2015). Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE), 2015. p. 812-816.

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionResearchpeer-review

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Gui P, Tang L, Mukhopadhyay S. A novel design of anti-falling mechanism for tree pruning robot. In Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications (ICIEA 2015). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). 2015. p. 812-816 https://doi.org/10.1109/ICIEA.2015.7334222