The Mechanism Design And Kinematics Analysis Of Climbing Tree Robot

Robot is the most representative system of mechatronics technology in the 21th Century . Industrial robot is being more and more widely used in modern industrial countries , Many merchandise prototypes of industrial robot are eutenhg into market continuously ,in this condition using stimulant industrial robot to explore all kinds of robot is a very important field. As the teaching means of robot technology,computer technology and mechatronics technology , industrial robot plays an important role in cultivating talents as well as generalizing and applying high technology.In this article ,present situation and development of climbing tree robot are introduced ,at the same time its principle is analyzed. After Summarizing the present situation of climbing tree robot at home and abrod ,mechanism design and theoretical analysis of climbing tree robot are finished.Two designs of scheme are applied in climbing tree robot.By comparing the two designs of scheme , crank block design and cam mechanism are used to realize the process of climbing tree, stepper motor drives organization, whivh and connecting bar are fixed on the principles of work of movable jaw and channel cam are described,animation show of climbing tree robot is implemented ;basing on principle of work of crank block,motion analysis and emulation of climbing tree . robot are executed;the control system of climbing tree robot analysised,futher,each principle of work and trait of control system is introduced ,at the same time,control system flow chart of climbing tree robot is drew. The climbing tree robotis controlled by computer,adopt hierarchical control, control system includes PC,epigyny single chip and hypogyny single chip,simultaneously,its hardware circuit diagram and software flow patterm are designed.