本科畢業(yè)設計外文文獻及譯文院 （部）： 專 業(yè)： 班 級： 姓 名： 學 號： 0外文文獻:ORIGINAL ARTICLEArtif Life Robotics (2011) 16:86–89 ? ISAROB 2011DOI 10.1007/s10015-011-0892-1S. Ueki · H. Kawasaki · Y. Ishigure · K. KoganemaruY. MoriDevelopment and experimental study of a novel pruning robot only one commercial product is available in Japan.6 The machine climbs a tree spirally and cuts branches using a chainsaw. However, the machine’s weight (25 kg) and slow speed hinder it from being an optimal solution to resolve the forest crisis. A lightweight platform is required, because most of the mountains in Japan have steep slopes, and the transportation of a pruning robot is a demanding task. To advance the state of the art of pruning robots, we present an innovative pruning robot that has its center of mass outside the tree. The wheel mechanism is designed for a hybrid climbing method, i.e., the robot is able to switch between straight and spiral climbs. This method ensures both lightweight and high climbing speed features in the Robot. In an earlier publication,7 we introduced the basic design concept and described some experiments with the prototype robots in detail. Moreover, the hybrid climbing method has proven that the proposed pruning robot can climb up and down a tree at high speed.8 Here, we report our progress in developing the robot, focusing on straight climbing, its behavior on uneven surfaces, and pruning. 2 Developed pruning robot With the ultimate goal of building a lightweight pruning robot, we have developed a novel climbing method that uses no pressing or grasping mechanism, but relies on the weight of the robot itself, like a traditional Japanese timberjack does when climbing a tree (Fig. 1). The timberjack uses a set of rods and ropes, which is called “Burinawa,” and does not hold or grasp the tree strongly, while his center of mass is located outside the tree. That is, the timberjack can stay on the tree using his own weight. Based on this new design concept and the requirements of the forestry industry, the pruning robot has been developed. As shown in Fig. 2, the robot is equipped with four active wheels. Wheels 1 and 2 are located on the upper side, and wheels 3 and 4 are located on the lower side. Each wheel is driven by a DC servomotor and a warm wheelAbstract This article presents the development of a timberjack- like pruning robot. The climbing principal is an imitation of the climbing approach of timberjacks in Japan. The robot’s main features include having its center of mass outside the tree, and an innovative climbing strategy fusing straight and spiral climbs. This novel 外文文獻及譯文1design brings both lightweight and high climbing speed features to the pruning robot. We report our progress in developing the robot, focusing on straight climbing, 2behavior on uneven surfaces, and pruning.Key words Pruning robot · Climbing robot1 Introduction The timber industry in Japan has gone into decline because the price of timber is falling and forestry workers are aging rapidly. This has caused the dilapidation of forests, resulting in landslides following heavy rainfall and the dissolution of mountain village society. However, a pruned tree in a suitably trimmed state is worth money because its lumber has a beautiful surface with well-formed annual growth rings. The development of a pruning robot is important for the creation of sustainable forest management. The research and development of a pruning robot 1–5 has been rare, and Received and accepted: February 25, 2011S. Ueki (*)Department of Mechanical Engineering, Toyota National Colleges ofTechnology, 2-1 Eiseicho, Toyota, Aichi 471-8525, Japane-mail: s_ueki@toyota-ct.ac.jpH. Kawasaki · K. KoganemaruDepartment of Human and Information Systems Engineering, GifuUniversity, Gifu, JapanY. IshigureMarutomi Seikou Co. Ltd., Seki, JapanY. MoriHashima Karyuu Kougyou Ltd., Gifu, JapanThis work was presented in part at the 16th International Symposiumon Artifi cial Life and Robotics, Oita, Japan, January 27–29, 201187the batteries. The center of mass was located with a margin of error, because the friction coeffi cient is unclear and the position of the center of mass may be moved by disturbance. For example, the robot will be tilted when it climbs up an uneven surface. In Fig. 2a, the center of mass was located with parameters H = 0.3 m and W = 0.22 m, where H is the distance between the upper side wheel and the lower side wheel, and W is the distance between the surface of the trunk and the center of mass, as shown in Fig. 3. The analysis shows that the robot is robust when D is 0.25 m, even if it is tilted about 0.1 rad. The controller is constructed using a CPU board which is equipped with a wireless LAN. The controller is able to communicate data/commands with a personal computer via the wireless LAN. Each wheel is controlled by a velocity PI control. A velocity feedback 外文文獻及譯文3input through a high-pass filter is appended. By comparison with the 2nd prototype,8 the 3rd prototype is lightweight except for the controller and batteries. Also, the controller and the electrical source were located externally in the 2nd prototype. The 3rd prototype is also equipped with a wireless LAN and a chainsaw. Although details of the chainsaw are omitted here, an experiment was performed to show the cutting of a branch using the 3rd prototype.3 Experiments Three experiments were performed to evaluate the 3rd prototype. The 1st experiment was to evaluate its basic performance. The 2nd experiment was to evaluate its robustness on uneven surfaces. The 3rd experiment was to show whether the robot can prune a branch. All experiments were performed using a substitute tree indoors. The diameter of the substitute tree was 0.25 m. The frictional coeffi - cient of the substitute tree was about 0.4, which is less than that of a natural tree. To collect the experimental data, the motor current, the position of the robot, and the orientation of the robot were measured. The motor current was measured using shunt resistance. The position was measured by a 3-D position measurement device (OPTOTRAK, Northern Digital). The orientation was measured by a 3-D orientation sensor (InertiaCube2, InterSense).Fig. 1. Tree climbing method using “BURINAWA”Fig. 2. 3rd prototype of pruning robot. a Photo image. b CAD image reduction mechanism which has non-back-drivability. The steering angle of each wheel is also driven by the DC servomotor and the warm wheel reduction mechanism. Based on analysis,7–9 the center of mass was located outside the tree with the help of the weight of the controller andFig. 3. 3D fi gure of a pruning robot on a tree. a Side view. b Top view883.1 Basic performanceA straight climbing experiment was performed to evaluate the robot’s basic performance. The desired speed of the four wheels was given by the trapezoidal profi le. The acceleration was 0.2 m/s2, and the speed was 0.2 m/s per 0.075 m of wheel radius. The experimental results are shown in Figs. 4, 5, and 6. Figure 4 shows the speed of the robot. The speed of each wheel was calculated from the values of the rotary encoder. The robot was able to climb at 0.2 m/s. Although there was a starting delay of about 0.5 s owing to the control law, this was not a problem. Figure 5 shows the distance moved. The “3D” value was measured by a 3D position measurement device, and the distance moved by each wheel was calculated from the value on the rotary encoder. In Fig. 5, we found three types of error: errors in 外文文獻及譯文4the distance moved between each wheel and the 3D position measurement device (E1); error between wheel 1 (or 3) and wheel 2 (or 4) (E2); error between wheel 1 and wheel 3 (and error between wheel 2 and wheel 4) (E3). We considered two possible reasons for these errors. The fi rst was differences in the deformation of each wheel. The distance moved by each wheel was calculated as 0.075 m of the radius of the wheel. The wheel was composed of urethane and an inner tube which was deformed by the force acting on it. The deformation volume depended on the magnitude of the force. From a theoretical analysis,7–9 the magnitude of the force in the third prototype tended to be as follows. The normal force near the center of mass becomes larger than the force at the opposite side. Hence, Fn4 = Fn2 > Fn3 = Fn1 was considered, where Fni is magnitude of the normal force of wheel i. Both (E1) and (E2) can be explained in this way. We also considered that the reason for (E3) was slippage of the wheel on the trunk. Figure 6 shows the electric current in the wheel motors, which were measured by the shunt resistance. The theoretical analysis7–9 also showed that the tangential force on the lower side is larger than that on the upper side. Figure 6 tends toward the theoretical analysis.3.2 Behavior on uneven surfacesTo use the robot safely, it must be robust on an uneven tree trunk. There will always be bumps caused by the growth of the remnants of a pruned branch. Therefore, a straight climbing experiment was performed to evaluate the robustness of the pruning robot for bumps on trunk. This experiment was performed on a substitute bump. The bump was made of ABS plastics, and was larger than a natural bump.The desired speed of the four wheels was given by a trapezoidal profile. The acceleration was 0.2 m/s2 and the speed was 0.2 m/s for every 0.075 m of the radius of the wheel. The experimental results are shown in Fig. 7, which shows the trajectories of angles 1 and 2 (see also Fig. 2b). Angle 2 rotated toward the plus direction in all cases, indicating that the control box was rising. This means that the center of mass moved toward the tree. The center of mass also moved toward the tree when angle 1 rotated toward the plus direction. This means that there is a decrease in the friction force keeping the robot on the tree. However, the electric currents in wheels 2 and 4 were larger than the continuous current in the experiment. Therefore, there was no danger of the robot falling down. Moreover, these angles returned to their former orientation, even though both angles 1 and 2 had changed when a wheel went over the bump. These results show the good robustness of the robot.3.3 Pruning experiment An experiment was carried out to discover whether the 3rd prototype could prune a branch. An attached chainsaw 外文文獻及譯文5was driven by a DC motor with a 24-V battery. The robot climbed the tree spirally at a speed of 0.03 m/s. The diameter of the target branch was 0.01 m.Fig. 4. Climbing speedFig. 5. Climbing distanceFig. 6. Electric current of each wheelFig. 7. Roll angle and pitch angle in each case. a Wheel 1 goes over thebump, b Wheel 2 goes over the bump, c Wheel 3 goes over the bump,d Wheel 4 goes over the bumpFig. 8. Pruning experiment with the pruning robot The experimental scene is shown in Fig. 8. In this experiment, the branch was cut off leaving only a short remnant which was less than 0.005 m, and the trunk was not injured.4 ConclusionThe developmental progress of a timberjack-like pruning robot has been described, focusing on straight climbing, its behavior on an uneven surface, and pruning a branch. The straight climbing experiment showed that the 3rd prototype gave a good basic performance. The result of the climbing experiment on an uneven surface showed good robustness for bumps, because most bumps on real trees are smaller than the experimental bump. Moreover, the pruning experimentalso showed that the 3rd prototype can prune a branch from a tree.In future work, we hope to test the robot in a real environment,and try to make some further improvements.References1. Takeuchi M, et al (2009) Development of street tree climbing robotWOODY-2 (in Japanese). Proceedings of Robomec 2009, 1A2–D072. Kushihashi Y, et al (2006) Development of structure of measuringgrasping power to control simplifi cation of tree, climbing andpruning robot Woody-1 (in Japanese). Proceedings of the 2006JSME Conference on Robotics and Mechatronics3. Suga Y, et al (2006) Development of tree-climbing and pruningrobot WOODY. Actuator arrangement on the end of arms forrevolving motion (in Japanese). Proceedings of SI2006, pp1267–12684. Yokoyama T, Kumagai K, Arai Y, et al (2006) Performance evaluationof branches map building system for pruning robot (in Japanese).Proceedings of the 2006 JSME Conference on Robotics andMechatronics5. Yamada T, Maeda K, Sakaida Y, et al (2005) Study on a pruningsystem using robots: development of prototype units for robots (inJapanese). Proceedings of the 2005 JSME Conference on Robotics外文文獻及譯文6and Mechatronics6. Seirei Industry. http://www.seirei.com/products/fore/ab232r/ab232r.html. Accessed May 20117. Kawasaki H, Murakami S, Kachi H, et al (2008) Analysis and experimentof novel climbing method. Proceedings of the SICE AnnualConference 2008, pp 160–1638. Kawasaki H, Murakami S, Koganemaru K, et al (2010) Developmentof a pruning robot with the use of its own weight. Proceedings ofClawar 2010, pp 455–4639. Kato T, Koganemaru K, Tanaka A, et al (2010) Development of apruning robot with the use of its own weight (in Japanese). Proceedingsof RSJ2010, Nagoya中文譯文:人工生命的機器人（2011）16:86–89?isarob 201110.1007/s10015-011-0892-1S. Ueki · H. Kawasaki · Y. Ishigure · K. KoganemaruY. Mori 一個新的修剪機器人的實驗研究進展在日本只有一個商業(yè)產品。這臺機螺旋地爬上一棵樹使用電鋸修剪樹枝。然而，機器的重量（25 公斤）和緩慢的速度阻礙它成為解決森林危機的最佳解決方案。一個輕量級的平臺是必需的，因為在日本，大部分山脈有陡峭的山坡，一個修剪機器人運輸是一項艱巨的任務。以提前修剪機器人的藝術狀態(tài)，我們提出一個創(chuàng)新的修剪機器人對于外面大多數(shù)的樹都能高效工作。它的輪系機構的設計是為了適應于混合爬山，即，機器人能夠開關之間的直線和螺旋爬升。該方法保證了機器人的輕量化和高爬的速度特征在早期的出版物，我們介紹了基本的設計概念和描述的原型實驗機器人了。此外，混合爬山法已經證明，該修剪機器人可以高速的爬上爬下大樹。在這里，我們報告我們開發(fā)機器人的進展，專注于直爬，善于不平坦的表面上的工作，和修剪。2 先進的修剪機器人隨著建設輕修剪的終極目標機器人，我們已經開發(fā)了一種新型的爬山法，采用無壓或抓機制，而是依靠機器人本身的重量，像日本傳統(tǒng)的伐木工不會爬樹的時候（圖 1） 。該用的一套桿和繩子，這是所謂的“burinawa ， “不握不住或抓住樹干，而他的質量中心位于樹。是的，該可以用自己的重量停留在樹上。基于這一新的林業(yè)產業(yè)的設計概念和要求，修剪機器人有了很大的發(fā)展。如圖 2 所示，該機器人配備了四主動輪。輪 1 和 2位于上側，輪 3 和 4 位于下側。每個輪由直流伺服電機、蝸輪驅動。摘要 本文介紹了一個伐木工的發(fā)展 —像修剪機器人。攀登主要是模仿在日本的timberjacks 攀登方法。機器人的主要功能包括對外面的樹進行修剪工作，和一個創(chuàng)新的爬山策略融合直線和螺旋式攀升的方式。這種新穎的設計帶來了輕量化和高爬升速度特征的修剪機器人。我們報告我們在發(fā)展機器人進展，針對直爬，不平坦的表面上的工作、修剪。關鍵詞· 修剪機器人 爬壁機器人外文文獻及譯文71 引言日本木材工業(yè)已經進入下降的原因，木材價格下降和林業(yè)工人老齡化迅速。這導致了森林的破壞，導致在暴雨和山體滑坡的破壞山村地區(qū)。然而，在一個適當?shù)呐淦綘顟B(tài)修剪樹是值得在上面投資的，因為其形成一個美麗的表面形成年輪。一個修剪機器人的發(fā)展對可持續(xù)森林管理的創(chuàng)新是很重要的。研究開發(fā)的修剪機器人 1–5已經很少見了。2011 年 2 月 25 日S.植木機械工程系，豐田民族院校豐田 471-8525，愛知縣，日本電子郵件：s_ueki@toyota-ct.ac.jp川崎·koganemaru H. K.人與信息系統(tǒng)工程系，岐阜大學，岐阜縣，日本Y.石博marutomi 有限公司， ，日本Y.森雪蛤 karyuu 興業(yè)有限公司，岐阜縣，日本這部分工作是在第十六屆國際研討會在人工生命與機器人項目展現(xiàn)的， ，日本，一月 27 日–29 日， 2011 年。87電池，質量中心位于一個錯誤的邊緣，由于摩擦系數(shù)不明確、質量中心的位置可能被干擾。例如，機器人會傾斜，當它爬上一個不均勻的表面。在圖 2a，質心定位參數(shù) H = 0.3 M 和W = 0.22 米，其中 H 為上輪和下側面之間的距離輪，和 W 的表面之間的距離軀干和質量中心，如圖 3 所示。分析表明機器人當 D 為 0.25 米，即使它傾斜約 0.1 拉德。控制器使用一個 CPU 板構成，配備了無線局域網(wǎng)。該控制器能夠通信數(shù)據(jù)/命令與個人電腦通過無線局域網(wǎng)。每一輪由速度 PI 控制。通過一個高通濾波器的速度反饋輸入附加。通過與第二個原型比較，第三原型重量輕，除控制器和電池。同時，控制器和電源分布在外部的第二個原型。第三原型也配備一個無線局域網(wǎng)和電鋸。雖然的電鋸細節(jié)在這里省略了，實驗表明一個分支使用第三切削原型。3 實驗三實驗進行評估的第三個原型。第一個實驗是對其基本性能。第二個實驗是評價其在不平坦的表面的性能。第三實驗表明機器人是否可以修剪樹枝。所有的實驗使用替代樹在室內進行。替代樹直徑的是 0.25 米的摩擦系數(shù) —有效的替代樹大約是 0.4，這是小于這一自然的樹。收集實驗數(shù)據(jù)包括，該電機電流，機器人的位置和方向，機器人的測定，測量電機電流。使用分流電阻。測定位置的一個三維位置測量裝置（OPTOTRAK，北數(shù)字） 。用三維定位測量定位傳感器（inertiacube2，InterSense） 。外文文獻及譯文8圖 1。爬樹方法使用“burinawa”圖 2。第三修剪機器人原型。照片圖像。B CAD 圖像還原機制具有非回駕駛性能。每個車輪的轉向角度也由直流驅動,伺服電機和蝸輪減速機構。在分析的基礎上，7 –9 質量中心位于外樹與控制器的重量。圖 3。對一棵樹的修剪機器人三維圖。側視圖。俯視圖3.1 基本性能直爬實驗進行評估，機器人的基本性能。這四個預期的速度輪子是由梯形的簡介。加速度0.2 米/ S2，和速度為 0.2 米/ 秒 ，車輪半徑 0.075 米， 。實驗結果顯示在圖。4，5 ，和 6。圖 4 顯示了機器人的速度。各自的速度從旋轉編碼器的值計算出輪。機器人能爬在 0.2 米/秒。雖然有一個約 0.5 由于控制法啟動延遲，這是一個問題。圖 5 顯示移動的距離。它的實現(xiàn)是由一個三維位置測量設備，和移動的距離每輪計算從價值上的旋轉編碼器。在圖 5 中，我們發(fā)現(xiàn)三種類型的錯誤：在距離誤差的感動每一輪的三維位置測量之間裝置（E1）之間的誤差；輪 1（或 3）和 2（或輪 4） （E2） ；輪 1 和輪 3 之間的誤差（誤差之間的 2 和 4 輪輪） （E3） 。我們考慮了兩這些錯誤的可能原因。第一個是差異在每一輪的變形。移動的距離按 0.075 米的半徑為每個車輪的每一圈。車輪是外文文獻及譯文9由聚氨酯合成的管，它是作用在它變形的力。它的變形量的大小取決于力。從理論上分析，7–9 級在第三原型的力量往往是如下。的正常力近質心變得大于在對面的力。因此，填充扶手椅形= FN2 > FN3 = FN1 被認為是，在法國是正常的力的大小第一輪（E1）和（E2）可以這樣解釋。我們認為原因是滑移（E3）樹干上的車輪。圖 6 顯示了電流在輪轂電機，這是由并聯(lián)測量電阻。理論分析也表明，在下側切向力大于上面。圖 6 傾向于理論分析，不平坦的表面上安全使用的機器人正常工作，它必須在不平的樹是強大的樹干?？偸菚杏稍鲩L引起的顛簸一個修剪枝的遺跡。因此，直爬坡實驗進行評估顛簸在樹干修剪機器人的性能。這個實驗在一個替代的凹凸進行。采用 ABS 塑料，和大于天然凹凸。在四輪所需的速度是由一個梯形了簡介。加速度為 0.2 米/ S2 和速度為 0.2 米/ 秒，每 0.075 米半徑的車輪。實驗結果如圖 7 所示，其中顯示角度 1 的軌跡和 2（參見圖 2B） 。2 角旋轉對所有病例加方向，指示這個控制箱上升。這意味著，大眾走向樹中心。質量中心也走向了樹當 1 角方向旋轉正方向。這意味著減少摩擦力使機器人在樹上。然而，在 2 個輪子的電流和 4 均大于在實驗中連續(xù)電流。因此，有沒有危險的機器人跌倒。此外，這些角度回到原來的方向，即使角度 1 和 2 發(fā)生了當一輪了凹凸。這些結果顯示了良好的性能。3.3 修剪試驗進行實驗，發(fā)現(xiàn)無論是第三原型可以修剪樹枝。一個附加的電鋸是由一個 24V 蓄電池直流電機驅動。機器人爬上螺旋的速度在 0.03 米/ 秒的直徑的樹該目標分為 0.01 米。圖 7。在每一種情況下滾角和俯仰角。一輪 1 過去的凹凸，B 輪 2 通過凹凸，C 輪 3 通過凹凸，D 輪 4 通過凹凸圖 8。機器人與修剪修剪試驗，實驗的場景如圖 8 所示。在這個實驗中，樹枝被切斷，只留下一個短暫的殘這是小于 0.005 米，與樹干沒有受傷。4 結論外文文獻及譯文10一個伐木工像修剪的發(fā)育進程，機器人已經被描述，針對直爬，其在不平坦的表面行為，修剪樹枝。的實驗表明，直爬第三原型給了一個很好的基本性能。攀爬的結果在不平坦的路面上試驗中表現(xiàn)出良好的魯棒性顛簸，因為真正的樹最凸起的小比實驗碰撞。此外，修剪試驗還表明第三的原型可以修剪樹枝從一棵樹。在今后的工作中，我們希望在實際環(huán)境中的機器人測試，試著做一些進一步的改進。工具書類1。張軍軍，等人 2009 年開發(fā)行道樹爬壁機器人木本。2009 促進了程序，1A2–D07 的發(fā)展。2。kushihashi Y，等人 2006 年發(fā)展了結構測量抓樹力修剪樹，攀爬修剪機器人木本（日本） 。2006 年開展程序與機器人與機電一體化會議。3。Suga Y，等人 2006 年開發(fā)攀樹和修剪機器人木本。執(zhí)行器布置在臂端為了旋轉運動（日本） 。促進了 si2006，PP1267–12684。Yokoyama T, Kumagai K, Arai Y，等人（2006）評估了樹枝修剪機器人地圖構建系統(tǒng)的績效（日本） 。在 2006 年開展了程序和機器人機電一體化會議。5。Yamada T, Maeda K, Sakaida Y，et al（2005）研究用于機器人的修剪系統(tǒng)：發(fā)展了機器人樣機單元（日本） 。開展了機器人 2005 日本機械學會與機電一體化會議。6。圣隸工業(yè)。http://www.seirei.com/products/fore/ab232r/ab232r。HTML。2011 年 5 月可以訪問7。Kawasaki H, Murakami S, Kachi H，等人（2008）分析與實驗新型爬山法。開展了 2008，PP 160–163 的 SICE 會議。8。Kawasaki H, Murakami S, Koganemaru K，等人（2010）開發(fā)一個用其自身的重量的修剪機器人。促進 455–CLAWAR 2010，PP 463 行業(yè)的發(fā)展9。Kato T, Koganemaru K, Tanaka A，等人（2010）開發(fā)的一個利用自身的重量的修剪機器人（日本） 。促進著 rsj2010，名古屋的發(fā)展。外文文獻及譯文11