Abstract
The article deals with the problem of creating mobile robots for servicing park and forest woodlands. An analysis of modern designs of robotic devices for tree trimming and a description of a fundamentally new design of a mobile robot of arbitrary orientation on tree trunks are given. The article describes a completely new design of a mobile robot for pruning bacterial damage to trees.Application of the proposed mobile robot allows maintenance of trees regardless of their topology and breed. An improved methodology for the parametric synthesis of the technical parameters of the robot is described. The difference in the proposed methodology for optimizing the design and technologicalparameters of a mobile robot is that the robot is presented in the form of a multi-level technical system in which target functions and independent factors are interconnected at different levels of the hierarchical system.Ref. 7, pic. 3
Highlights
The proposed design of a mobile robot for tree maintenance can significantly improve the reliability of operation by applying self-locking mechanisms in the design of gripping the robot to grip it with the surface of the tree, and the possibility of arbitrary orientation is provided by dividing the housing of the robot into two parallel platforms, supplied by the actuator of relative rotation
The mobile robot described in the monograph [4, p. 37−39] contains housing with grips made in the form of claws, forming the phalanx of the grip and supplied with springs to engage the grip with the tree trunk and a linear actuator to open the grip
When performing technological operations such as pruning tree branches, it is necessary to increase the force of the springs, which compress the claws of the grips, and, increase the power of the linear actuator to open the claws of the grips, which inevitably leads to an increase in the weight of the device and the increasing gravitational load on the robot
Summary
The proposed design of a mobile robot for tree maintenance can significantly improve the reliability of operation by applying self-locking mechanisms in the design of gripping the robot to grip it with the surface of the tree, and the possibility of arbitrary orientation is provided by dividing the housing of the robot into two parallel platforms, supplied by the actuator of relative rotation.
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