Control System Design And Experimental Research Of Tall Tree Pruning Machine

Trees pruning is main measures of forest tending, reasonable pruning can promote growth of trees, improve the straight and bending strength of trees and toughness of lumber,upper enhance photosynthesis, it has a very positive significance for the growth of trees.Traditional repair mechanic with a handsaw, machetes, etc., are relatively backward. They have the problem of poor quality pruning and labor-intensive. Pruning height can not meet the requirements. Aiming at wide area of forest tending, large pruning work, poor trimming tools,especially the lack of suitable trees pruning and equipment in high altitude pruning operation,this paper develops a new tall trees pruning machine equipment and its control system.This paper mainly introduces design of control system of the tall trees pruning machine and experimental research.(1) This paper uses D-H parametric method to establish the kinematics model of manipulator, deduce forward kinematics equation and solve the inverse kinematics model, we can calculate and validate the value of kinematics using Matlab software. We can get correspondence between the joint angle and elongation of electric cylinder using Solidworks software, we can verify the correspondence between joint angle and elongation of the electric cylinder using ADAMS software. We carry out mechanical arm forward kinematics and inverse kinematics simulation and verification by Matlab Robotics Toolbox, we performe simulation and analysis of the operation space of the pruning machine by Sim Mechanics.(2) This paper introduces the tall tree pruning machine control hardware system,determines the control hardware system solutions. Pruning control system uses the RS485 communication bus. Pruning machine control hardware system is made up of industrial tablets,cameras, lifting platform system hardware, rotary support system hardware, manipulator system hardware and pruning saws system hardware. Industrial tablet is the core control unit,having video display and control functions. Camera includes a wireless digital camera and Wireless USB Receiver. The lifting platform system hardware is composed of RS- 485 relay,rotary support system hardware includes PWM signal generator, a half closed loop stepper motor encoder and stepper motor drives, manipulator system hardware includes servo motor controller, trimming saw system hardware includes RS-485 relay.(3) This paper describes the pruning control method, decides the overall concept of pruning machine control. Including: industrial tablet PC design interactive interface, Modbuscommunication protocol description, the control system initialization, rotary table control,servo electric cylinder control, pruning manipulator linkage control, and pruning saw control.(4) This paper verifies the actual effect of tall trees pruning work machine control system through prototype testing. The operator observes the position of the branches by the industrial computer camera display interface, and controls the actuator to complete a series of pruning operation through the industrial computer control interface.Simulation and experimental results show that the designed by tall trees pruning machine control system can control the pruning machine pruning operations, and achieve the desired control objective.