立木攀爬机器人抱树机构的改进设计  

Improved Design of Tree Holding Mechanism for Standing Tree Climbing Robot

作　　者：王岩岩 孙悦[1] 唐伟国[1,2] 邹万勇 WANG Yan-yan;SUN Yue;TANG Wei-guo(Beijing Forestry University,Beijing 100083,China;Beijing Precision Engineering Institute for Aircraft Industry,Beijing 100076,China)

机构地区：[1]北京林业大学,北京100083 [2]北京航空精密机械研究所,北京100076

出　　处：《林业机械与木工设备》2018年第7期11-13,共3页Forestry Machinery & Woodworking Equipment

基　　金：大学生创新创业训练计划项目"立木攀爬监测机器人的结构设计与优化"

摘　　要：抱树机构是立木攀爬机器人的一个重要装置,是机器人能够稳定在树上的关键机构之一。分析了现有抱树机构存在的问题,利用机构学原理对原有结构进行了改进设计。改进设计后的抱树机构是一种大跨度、多自由度的抱树机构,建立了该机构的三维模型,并分析了其两种不同的工作方式。A tree holding mechanism is an important device of a tree climbing robot and also one of the key mechanisms for keeping the robot stable in the tree. The existing problems with existing holding tree mechanisms are firstly analyzed in this paper,with improved design of the original structure conducted based on the mechanism principle. A tree holding mechanism with a large-span a multi-degree-of-freedom is designed and a three-dimensional model of this mechanism is established,with the working mode of this new tree holding mechanism analyzed.

关 键 词：攀爬机器人 抱树机构 改进设计 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]