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

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.