STAR78-ربات های بالارونده از درخت

tree climbing robot

STAR78-ربات های بالارونده از درخت

Climbing robot is a challenging research topic that has gained much attention from researchers. Most of the robots reported in the literature are designed to climb on manmade structures, but seldom robots are designed for climbing natural environment such as trees. Trees and manmade structures are very different in nature. It brings different aspects of technical challenges to the robot design. In this book, you can find a collection of the cutting edge technologies in the field of tree-climbing robot and the ways that animals climb. It provides a valuable reference for robot designers to select appropriate climbing methods in designing tree-climbing robots for specific purposes. Based on the study, a novel bio-inspired tree-climbing robot with several breakthrough performances has been developed and presents in this book. It is capable of performing various actions that is impossible in the state-of-the-art tree-climbing robots, such as moving between trunk and branches. This book also proposes several approaches in autonomous tree-climbing, including the sensing methodology, cognition of the environment, path planning and motion planning on both known and unknown environment.


Introduction

State-of-the-Art Tree-Climbing Robots

Methodology of Tree Climbing

A Novel Tree-Climbing Robot: Treebot

Optimization of the Fastening Force

Kinematics and Workspace Analysis

Autonomous Climbing

Global Path and Motion Planning

Conclusions and Future Work


Climbing robot is a challenging research topic that has gained much attention from researchers. Most of the climbing robots reported in the literature are designed to work on manmade structures, such as vertical walls, glass windows or structural frames. There are seldom robots designed for climbing natural structures such as trees. Trees and manmade structures are very different in nature. For example, tree surfaces are seldom flat and smooth, and some trees have soft bark that peels off easily. It brings different aspects of technical challenges to the robot design. In the state-of-the-art tree-climbing robots, the workspaces are restricted on tree trunks only. They cannot act like arboreal animals such as squirrels to reach any position on irregularly shaped trees with branches. As branches and curvature are presented in many kinds of trees, the application of these robots is strongly restricted. It is clearly that the tree-climbing technology in robotics still has big room for improvement.

Through billions of years of evolution, many types of arboreal animals have evolved and developed diverse methods to deal with these challenges. The rigorous competition of natural selection process confirms the effectiveness and efficiency of the present solutions in nature. It is believed that the solution in nature can inspire an idea to solve the captioned technical challenges in certain level.

In this book, a comprehensive study and analysis of both natural and artificial tree-climbing methods is presented. It provides a valuable reference for robot designers to select appropriate climbing methods in designing tree-climbing robots for specific purposes. Based on the study, a novel bio-inspired tree-climbing robot with several breakthrough performances has been developed and presents in this book. It is capable of performing various actions that is impossible in the state ofthe-art tree-climbing robots, such as moving between trunk and branches. This book also proposes several approaches in autonomous tree-climbing, including the sensing methodology, cognition of the environment, path planning and motion planning on both known and unknown environment.

This book originates from the PhD thesis of the first author at the Chinese University of Hong Kong, supervised by the second author. In this book, you can find a collection of the cutting edge technologies in the field of tree-climbing robot and the ways that animals climb. You can also find the development and application of a novel type of climbing mechanism. Although the novel mechanism is applied for tree climbing in this book, it has high potential to apply on others fields due to its distinguish characteristics. In addition, the work also illustrates a successful example of biomimetics as several important aspects in the work such as maneuver mechanism and the method of environment cognition in autonomous control.

This book is appropriate for postgraduate students, research scientists and engineers with interests in climbing robots and biologically inspired robots. In particular, the book will be a valuable reference for those interested in the topics of mechanical design, implementation, and autonomous control for tree-climbing robots.

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2 comments

  • لینکها سرکاری است آنقدر کند است که عملا نمی شود استفاده کرد!نیاز نیست که بگذارید دانلود کند همون اول بنویسید دانلود پولی خودتون رو خلاص کنید و ملت سرکار نباشند با تشکر
    • سلام بر شما! با تشکر از انتقادتون. باید بگم که ما معمولاً لینک ها رو قبل از انتشار بررسی می کنیم. اخیرا به خاطر صحبت شما، بنده دوباره خودم لینک «دانلود رایگان» رو استفاده کردم و بدون هیچ مشکلی دانلود رو انجام دادم. لذا بعید می دونم افراد دیگه هم مشکلی داشته باشن. ضمن اینکه برای یک کار علمی با اهداف ما، درست نمی دونیم بخوایم مردم رو مجبور به پول دادن بکنیم. ولی خب با فراهم کردن شرایط بهتر به صورت پولی، سعی داریم کاری بکنیم که فعالیت این تارنما استمرار داشته باشه. با تشکر