A novel robotic tree climbing mechanism with anti-falling functionality for tree pruning

Pengfei Gui, Liqiong Tang, Subhas Mukhopadhyay

    Research output: Contribution to journalArticle

    8 Citations (Scopus)

    Abstract

    This paper presents a novel mechanism of tree climbing robotic system for tree pruning. The unique features of this system include the passive and active anti-falling mechanisms, which prevent the robot from falling to the ground under either static or dynamic situations, the capability to vertically or spirally climb up a tree trunk, and the flexibility to suit different trunk sizes. The computer-aided design (CAD) models of the robotic mechanism, static and kinematic analysis, climbing simulation, and testing of the physical model are stated in detail. This research work reveals that this novel tree climbing mechanism can be served as a platform for tree pruning robot.

    Original languageEnglish
    Article number014502
    Pages (from-to)1-8
    Number of pages8
    JournalJournal of Mechanisms and Robotics
    Volume10
    Issue number1
    DOIs
    Publication statusPublished - 1 Feb 2018

    Keywords

    • anti-falling mechanism
    • climbing simulation
    • lightweight
    • platform balancing
    • tree climbing robot

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