Segmented Gripper Mechanism for Tree Climbing Adaptability
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Solution Overview
Problem
Existing tree climbing robots face challenges in navigating complex tree structures and maintaining grip on varying trunk and branch curvatures, as well as encountering obstacles, due to limitations in their design and gripping mechanisms.
Innovation Solution
A tree climbing device equipped with an omni-directional gripper using claw mechanisms and a continuum manipulator that allows for bending and extension motions, enabling the device to adhere to and maneuver along tree surfaces with high maneuverability, including the ability to avoid obstacles and change direction in three-dimensional space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot encircles the entire tree trunk for fastening, then the gripping force is sufficient to support the robot's weight, but the robot cannot avoid branches when the fastening mechanism cannot be opened
Solution Approach 1:
The gripping mechanism is divided into multiple independent grippers (first gripper and second gripper) that can operate independently. Each gripper can be opened or closed separately, allowing the robot to release from one location while maintaining grip at another, enabling branch avoidance without complete release
Solution Approach 2:
The grippers are designed with dynamic control capabilities, allowing real-time adjustment of gripping force and state. The actuators enable the grippers to transition between gripping and releasing states dynamically, facilitating adaptive response to obstacles like branches during climbing
2Reliability
If the gripper is designed to encircle the entire tree trunk, then the robot can maintain stable climbing, but the size of the robot becomes proportional to the circumference of the trunk, reducing adaptability to varying tree sizes
Solution Approach 1:
The climbing robot uses multiple segmented grippers distributed around the trunk rather than a single encircling structure. This segmentation allows each gripper to independently adapt to local trunk curvature and size variations while collectively providing stable support
Solution Approach 2:
The gripping force and gripper configuration are made adjustable through actuator control. The system can modify gripping parameters (force, position, orientation) to adapt to different trunk diameters and curvatures, maintaining stability across varying tree sizes without requiring a fixed-size encircling structure
3Productivity
If a wheel-based driving system is used for vertical climbing, then climbing speed is improved, but the robot cannot navigate complex tree structures and varying curvatures
Solution Approach 1:
The climbing mechanism transitions from rigid wheel-based motion to dynamic gripper-based locomotion. The grippers can dynamically adjust their positioning and gripping force to accommodate varying tree curvatures, branches, and surface irregularities, enabling navigation of complex structures while maintaining climbing efficiency
Solution Approach 2:
The system uses adjustable gripping parameters and actuator control to adapt to different climbing scenarios. By modifying grip force, gripper position, and actuation timing, the robot can navigate both vertical trunks and complex branched structures with varying speeds appropriate to each terrain condition
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device achieves effective gripping and climbing on a wide range of tree species with varying curvatures and surfaces, demonstrating high maneuverability and adaptability, although it may struggle with trees having easily peeling bark or very hard surfaces.
Implementation Method 1
a linear motor arranged on the house, wherein the linear motor is configured to further compress the first spring and release the second spring so as to push the second phalanx leave off from a gripping substrate during the linear motor extends, and to compress the second spring and release the first spring so as to push the second phalanx back to the gripping substrate during the linear motor contracts
Implementation Method 2
there is provided a first pre-compressed spring and a second pre-compressed spring in the first and the second joint, respectively
Data Source
AI summary
A gripping device comprising: a house; at least one gripper configured with at least one claw, the claw being configured with a pair of first phalanxes linked to the house at a first joint, and a pair of second phalanxes linked to the first phalanxes at a second joint; a first actuator arranged on the first joint; a second actuator arranged on the second joint; and a motor configured to enable the first and the second actuators co-operate so as to push the second phalanxes off a gripping substrate, or to push the second phalanxes back to the gripping substrate.