一种活立木攀爬机器人的设计与实现  

Design and implement of a new type of climbing robot for living trees

作　　者：李早芳 葛浙东[1] 程放[2] 周玉成[1] 

机构地区：[1]中国林科院木材工业研究所,北京100091 [2]中国林科院林业新技术研究所,北京100091

出　　处：《木材加工机械》2016年第1期32-34,56,共4页Wood Processing Machinery

基　　金：国家林业公益性行业科研专项"活立木/结构材层析成像技术与设备研究示范"(201304515)

摘　　要：针对林业领域高空作业劳动强度大、危险系数高等问题,开发一种基于ATmega 128处理器的活立木攀爬机器人。通过机械结构、工作原理、控制器的硬件组成和软件设计四个方面阐述了机器人的实现方法,旨在说明其可实现负重攀爬活立木,且具备较强的负重攀爬能力和稳定的运动特性。经验证,本文设计的活立木攀爬机器人可完成承载设备和攀爬任务的工作。Climbing robot for the living trees was developed based on ATmega 128 to solve the problem of great labor intensity and high risk for forestry aloft work. In this paper, four aspects of the mechanical structure, work principle, hardware compositions and software design method of controller were expound the implementation method of the robot, the device was of certain weight loading capability and good working stability. The experiment results indicated that the climbing robot can carry equipment and complete climbing mission.

关 键 词：活立木 攀爬机器人 ATMEGA 128单片机 

分 类 号：S776.033[农业科学—森林工程]