Structure Design And Simulation Analysis Of Tree Climbing Robot

Forestry production and management is an important part of national ecological security and forestry development,and the methods and equipment of forestry production and management are an important embodiment of the modernization level of forestry.Based on the national strategic goals of carbon peak and carbon neutrality,it is a mandatory need to promote the green development of"dual carbon"and upgrade existing agricultural and forestry machinery and equipment.Tree-climbing robot is a special robot suitable for unstructured forest environment,which has better adaptability and flexibility in the natural environment than traditional robots,and is used to detect the growth status of trees,monitor diseases and pests,forest aerial survey,collect animal and plant samples,tending whole branches and other fields,and has a very wide range of application prospects.Based on the above development requirements,this research aims at the problems of complex structure,low reachable working height,poor load and steering obstacle avoidance ability of existing tree climbing robots at home and abroad,combined with bionics,modularization,lightweight,topology optimization design Based on the principle,a tree-climbing robot with simple structure,light weight,high load,low energy consumption,and strong ability to avoid obstacles and turn is designed.（1）Mechanical structure design of tree climbing robot.Analyze the working environment and working methods,design the lifting mechanism,clamping mechanism,and steering mechanism of the tree climbing robot,analyze the clamping failure mode of the tree climbing robot,and obtain the force along the trunk axis when the tree climbing robot climbs the trunk with different postures The maximum value is 250N.According to the design requirements and force analysis,the key components are calculated and selected.The material of the tree-climbing robot is selected as aluminum alloy 6063-T83.The three-dimensional prototype of the tree-climbing robot is designed and assembled using SOLIDWORKS.The measured The mass of the tree-climbing robot is 19.25kg,and the climbing gait of the tree-climbing robot is planned.（2）Static analysis verifies size design,material and motor selection.Using ANSYS to conduct static analysis on the clamping mechanism and key components to verify the rationality of the size design and material selection,the results show that the maximum deformation of the clamping mechanism is5.4×10^-3m,which occurs at the end of the claw of the clamping mechanism;the clamping mechanism selected The part material is 6063-T83 aluminum alloy,the yield strength is240MPa,and the maximum stress of the clamping mechanism is 227MPa,which is less than the material yield strength,meets the strength requirements,and has a high strength margin.The modal analysis of the clamping mechanism obtained the first six modal vibration diagrams.The natural frequency is mainly 14.798Hz～186.59Hz.The frequency of the motor selected for the clamping mechanism avoids the resonance point of the clamping mechanism,which verifies the selection of the motor The correctness of the clamping mechanism judges the stability of the motor work.（3）Kinematics analysis and solution workspace.Establish the connecting rod coordinate system of the tree-climbing robot,use the D-H method to analyze the kinematics of the tree-climbing robot and solve the forward kinematics equation,use MATLAB to establish a mathematical model of the tree-climbing robot to verify the forward kinematics,and draw the working space of the tree-climbing robot.（4）Dynamic analysis simulates the climbing process.Using ADAMS to analyze the dynamics of the tree-climbing robot to simulate the climbing process of the tree-climbing robot,explore the changes in motion parameters during the tree-climbing process,and verify the feasibility of the climbing gait of the tree-climbing robot and the rationality of the structural design.In summary,through the analysis and research on tree climbing robots,it provides theoretical reference for the follow-up research on tree climbing robots,provides a research basis for forestry robots,and promotes the development of tree climbing robots.