طراحي و ساخت ربات هرس كننده درخت مجهز به سيستم كنترل نيرو

Design and Development of Robotic Pruning Machine with Force Control System

In this paper, fabrication process, theoretical, control approach and evaluation of Robotic pruning machine with force control system are described. Force control system keep contact force between cutting tool and tree branch in certain limit. Operating process is such that the cutting force is measured by a load cell and the motion speed is changed by certain rate of contact force in software. In estimation of this machine motion speed of manipulator arms relation to loading rate and correction of kinematics equation, test of machine beside tree and the effect of sensitivity coefficient of the force control system on power and time consumption are investigated.