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Technical Brief

A Novel Robotic Tree Climbing Mechanism with Anti-falling Functionality for Tree Pruning

[+] Author and Article Information
Pengfei Gui

School of Engineering and Advanced Technology Massey University Palmerston North, New Zealand 4410
P.F.Gui@massey.ac.nz

Liqiong Tang

School of Engineering and Advanced Technology Massey University Palmerston North, New Zealand 4410
L.Tang@massey.ac.nz

Subhas Mukhopadhyay

Department of Engineering Macquarie University Sydney, Australia, 2109
subhas.mukhopadhyay@mq.edu.au

1Corresponding author.

ASME doi:10.1115/1.4038219 History: Received January 15, 2017; Revised September 29, 2017

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 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.

Copyright (c) 2017 by ASME
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