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A Novel Tree-Climbing Robot: Treebot
Abstract
Based on the limitation of the existing tree-climbing robots, one of the motivations of the work presented in this book is to develop a novel type of tree-climbing robot that can assist or replace humans in performing tasks on trees. The robot should be applicable to various pursuits such as harvesting, tree maintenance and observation of arboreal animals.
... Some of the climbing robots that used claw have only one hook used to attached to the wall like [19][20][21][22], while there are robots have a gripper device that contain multi-hook [14][15][16][17][18]. The hook-like claw method is suitable method for climbing on rough surfaces, also claw method using in climbing on the tree or palm [26][27][28], or climbing on mesh fence wall [29]. ...
In this paper, the hybrid-climbing legged robot is designed, implemented, and practically tested. The robot has four legs arranged symmetrically around the body were designed for climbing wire mesh fence. Each leg in robot has 3DOF which makes the motion of the robot is flexible. The robot can climb the walls vertically by using a unique design of gripper device included metal hooks. The mechanism of the movement is a combination of two techniques, the first is the common way for the successive movement like gecko by using four limbs, and the second depending on the method that used by cats for climbing on the trees using claws, for this reason, the robot is named hybrid-climbing legged robot. The movement mechanism of the climbing robot is achieved by emulating the motion behavior of the gecko, which helped to derive the kinematic equations of the robot. The robot was practically implemented by using a microcontroller for the mainboard controller while the structure of the robot body is designed by AutoCAD software. Several experiments performed in order to test the success of climbing on the vertical wire mesh fence.
... In 2013, Parness designed a flexible pawl structure for RISE V2, which can stably adhere on the surface of porous meteorite and sample meteorite in LEMUR IIB [11]. In Chinese University of Hong Kong, Yangsheng Xu's research group developed a tree climbing robot Treebot in 2012, which can be used to assist and replace workers to climb trees for inspection, maintenance, pest control and other forestry works [12]. In addition, Qingsong Xu developed a novel compliant gripper which dedicated to automated micro-assembly task by sensors [13]. ...
Perching and climbing as animals do is useful to aerial robots for extending mission life and for interacting with the physical world because flight is energetically costly. This paper presents the design and modeling of a claw or spine based gripper for perching on rough, curved surfaces. Drawing inspiration from the opposed grip techniques found in animals, we focus on the design considerations associated with surface geometry and preload. A model elucidates the relationship between these variables, and a mechanism demonstrates the effectiveness of the opposed grip technique.
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