Design and Analysis of a Novel Tree Climbing Robot Mechanism

Wang, Rugui; Huang, Haibo; Li, Yang; Yuan, Jiwei

doi:10.21203/rs.3.rs-55599/v1

Cited by 7 publications

(5 citation statements)

References 28 publications

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“…Bionic climbing robot inspired by primates had proven to have more flexibility than wheel-based climbing robot (Wang et al, 2020). This climbing robot composed of four legs and a body frame as shown in Figure 10.…”

Section: Tree Climbing Mechanismmentioning

confidence: 99%

“…Besides, the use of a support module eliminated the need to use active control system for balancing the tilt of the robot. However, this climbing mechanism required the operator to assemble and calibrate the robot on the tree manually, which was impractical for autonomous harvesting.Bionic climbing robot inspired by primates had proven to have more flexibility than wheel-based climbing robot(Wang et al, 2020). This climbing robot composed of four legs and a body frame as…”

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confidence: 99%

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Autonomous Harvesting Robot for Oil Palm Plantation: A Review

HAO

2024

JOPR

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Due to the continuous labour crisis, the oil palm industry in Malaysia has lost an estimated worth of RM10.46 billion unharvested fruit in the first five months of the year 2022. A robotic system in automating the harvesting process of the oil palm fresh fruit bunches (FFB) is proposed to solve the existing problems related to oil palm harvesting and further enhances the development of oil palm harvesting technologies. This article aims to review the six identified key technologies for solving the technological challenges in the development of this robotic system. The key technologies are as follows: (1) oil palm ripeness detection;(2) oil palm cutting mechanism; (3) tree climbing mechanism; (4) motion trajectory planning for fruit harvesting manipulator; (5) localisation; (6) navigation and obstacle avoidance. Six criteria for successful implementation of the proposed harvesting robot are discussed followed by recommendations on the type of technology used. The integration of these technologies as a complete robotic system is analysed. Prediction on the trend of technological development in oil palm harvesting is discussed.

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Section: Tree Climbing Mechanismmentioning

confidence: 99%

mentioning

confidence: 99%

Autonomous Harvesting Robot for Oil Palm Plantation: A Review

HAO

2024

JOPR

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“…Inspired by animals, researchers have designed various bionic climbing robots. Wang et al [ 71 ] designed a quadrupedal tree-climbing robot that mimics the tree-climbing movements and postures of monkeys. Liu et al [ 72 ] designed a climbing robot that adopts a five-link mechanism and a piston mechanism to imitate the climbing movement of geckos.…”

Section: Key Technologies Used In Climbing Robotsmentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade’s design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.

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“…The key technologies of wall-climbing robots revolve around their adsorption capacity and motor capabilities. In view of how to solve the hindering effect of one's own gravity during wall climbing, a variety of methods are tried by researchers at home and abroad, namely, negative pressure adsorption [7,8], bionics adsorption [9,10], climbing adsorption [11,12] and electromagnetic adsorption technology [13,14]. Those technologies have their own merits and demerits; consequently, it is essential to select according to the actual situation and specific needs.…”

Section: Introductionmentioning

confidence: 99%

Research on Coupling Adsorption Experiments for Wall–Climbing Robots in Coal Mine Shafts

2023

Processes

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Based on the composite shaft lining structure, the research on the electromagnetic and negative pressure coupling adsorption technology of wall–climbing robots is of great significance to improve the level of safety monitoring during the construction and service of coal mine shafts. On the basis of theoretical research and computational data, the numerical simulation and simulation experiments of the coupled adsorption system of a wall–climbing robot are conducted in this research. In the ANSA software environment, of experimental models and experimental environments of electromagnetic and negative pressure adsorption devices are constructed to investigate, parameters such as air flow and the law behavior of fan pressure under different system conditions, including negative pressure and varying fan speeds. The intensity distribution of the magnetic flux inside the electromagnetic circuit under different working conditions and the law of change in the direction of movement are explored. Furthermore, the power consumption and power increment of the electromagnetic and negative pressure adsorption system under the same adsorption force output are compared and analyzed. Based on the experimental results, a series of conclusions are verified; firstly the negative pressure of the system should be formed under certain basic specific fundamental conditions; secondly, the main velocity of the negative pressure adsorption system and the full pressure of the fan are determined by the internal and external pressure difference and the fan speed, respectively; lastly, the adsorption efficiency of electromagnetic adsorption is significantly higher than that of negative pressure adsorption. These research findings are expected to introduce a new technical means approach for the safety monitoring of vertical shafts and shafts in coal mines, thereby demonstrating the theoretical significance and practical value of the application and development of an underground multi–scenario robot automation system in coal mines.

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Design and Analysis of a Novel Tree Climbing Robot Mechanism

Cited by 7 publications

References 28 publications

Autonomous Harvesting Robot for Oil Palm Plantation: A Review

Autonomous Harvesting Robot for Oil Palm Plantation: A Review

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Research on Coupling Adsorption Experiments for Wall–Climbing Robots in Coal Mine Shafts

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