Modeling and driving function optimization of tree climbing robot

To ensure the tree-climbing robot can complete the up-tree or down-tree process, its arms need to adjust the displacement of the push rod in real-time according to the diameter size of the tree trunk so that the tire can smoothly bypass the smaller tree pile. However, the irregular shape of the trunk surface makes the inflatable tire vibrate during rolling, which will reversely affect the performance of the push rod. Based on this, the three-dimensional model of the tree-climbing robot is established by Solid Works software, and the kinematics simulation model of the tree-climbing robot is established by Automatic Dynamic Analysis of Mechanical Systems (ADAMS). The kinematics simulation analysis is carried out. According to the tire displacement curve of the tree-climbing robot, the optimal solution of the push rod driving function is solved. Under the condition of ensuring the trajectory of the spiral rise is unchanged, the mean square deviation of the distance between the two arms of the tree-climbing robot is the smallest, and the push rod is the least affected by the reverse effect of the tire. The simulation results show that under the condition of the optimal solution, the frequency distribution and amplitude of the four springs are basically the same. The force of the four springs is uniform, and the reverse influence of the tires on the two push rods is minimized, which is conducive to the improvement of the stability of the tree climbing robot.