A Flexible Tree Climbing Robot: Treebot – Design and Implementation
文献类型：会议论文
| 作者 | Tin Lun Lam; Yangsheng Xu |
| 出版日期 | 2011 |
| 会议名称 | 2011 IEEE International Conference on Robotics and Automation |
| 会议地点 | Shanghai, China |
| 英文摘要 | This paper proposed a novel tree climbing robot "Treebot" that has high maneuverability on an irregular tree environment and surpasses the state of the art tree climbing robots. Treebot's body is a novel continuum maneuver structure that has high degrees of freedom and superior extension ability. Treebot also equips with a pair of omni-directional tree grippers that enable Treebot to adhere on a wide variety of trees with a wide range of gripping curvature. By combining these two novel designs, Treebot is able to reach many places on trees including branches. Treebot can maneuver on a complex tree environment, but only five actuators are used in the mechanism. As a result, Treebot can keep in compact size and lightweight. Although Treebot weighs only 600 grams, it has payload capability of 1.75 kg which is nearly three times of its own weight. On top of that, the special design of the gripper permits zero energy consumption in static gripping. Numerous experiments have been conducted on real trees. Experimental results reveal that Treebot has excellent climbing performance on a wide variety of trees. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/3424]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2011 |
| 推荐引用方式 GB/T 7714 | Tin Lun Lam,Yangsheng Xu. A Flexible Tree Climbing Robot: Treebot – Design and Implementation[C]. 见:2011 IEEE International Conference on Robotics and Automation. Shanghai, China. |
入库方式： OAI收割
来源：深圳先进技术研究院
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