Anti-falling tree climbing mechanism optimization

Pengfei Gui, Liqiong Tang, Subhas Mukhopadhyay

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

Abstract

This paper presents an improved anti-falling tree climbing mechanism. A study and comparison was made on an original tree climbing robotic system published in reference. This optimized robotic system only relies on one stepper to achieve the anti-falling and anti-jamming functionality under either static or dynamic situations. This improved design feature reduces the total robot weight and enhances the control system robustness. Moreover, to achieve the robot spiral climbing morphology and decrease the servomotor rotational frictional forces, a special servomotor module and a bearing supporting mechanism are designed and implemented. The optimized mechanism design of the climbing robot is modelled in SolidWorks and the climbing process is simulated using SimMechanics. The simulation outcome of the initial and improved design shows that the new design has higher climbing speed and lighter weight. Physical prototype experiment matches with the simulation outcome and verifies the feasibility and effectiveness of this redesigned tree climbing mechanism.

LanguageEnglish
Title of host publication2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)
Place of PublicationPiscataway, NJ, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages284-288
Number of pages5
ISBN (Electronic)9781509067923
ISBN (Print)9781509067947
DOIs
Publication statusPublished - 19 Jul 2017
Externally publishedYes
Event2nd Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2017 - Wuhan, China
Duration: 16 Jun 201718 Jun 2017

Conference

Conference2nd Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2017
CountryChina
CityWuhan
Period16/06/1718/06/17

Fingerprint

Robot
Servomotors
Optimization
Robotics
Robots
Mechanism Design
Bearings (structural)
Jamming
Simulation
Robustness (control systems)
Control System
Prototype
Verify
Robustness
Module
Decrease
Atmospherics
Control systems
Experiment
Design

Keywords

  • anti-falling mechanism
  • lightweight
  • spiral climbing morphology
  • stepper
  • tree climbing robot

Cite this

Gui, P., Tang, L., & Mukhopadhyay, S. (2017). Anti-falling tree climbing mechanism optimization. In 2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) (pp. 284-288). [7986109] Piscataway, NJ, USA: Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ACIRS.2017.7986109
Gui, Pengfei ; Tang, Liqiong ; Mukhopadhyay, Subhas. / Anti-falling tree climbing mechanism optimization. 2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS). Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers (IEEE), 2017. pp. 284-288
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Gui, P, Tang, L & Mukhopadhyay, S 2017, Anti-falling tree climbing mechanism optimization. in 2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)., 7986109, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, USA, pp. 284-288, 2nd Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2017, Wuhan, China, 16/06/17. https://doi.org/10.1109/ACIRS.2017.7986109

Anti-falling tree climbing mechanism optimization. / Gui, Pengfei; Tang, Liqiong; Mukhopadhyay, Subhas.

2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS). Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 284-288 7986109.

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

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Gui P, Tang L, Mukhopadhyay S. Anti-falling tree climbing mechanism optimization. In 2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS). Piscataway, NJ, USA: Institute of Electrical and Electronics Engineers (IEEE). 2017. p. 284-288. 7986109 https://doi.org/10.1109/ACIRS.2017.7986109