2P1-C10 Posture control of pruning robot that takes account of self-locking of worm-gear

Abstract

Pruning robot has a posture adjustment mechanism using a worm-gear. The climbing method driven by servomotors with a warm-gear reduction mechanism can rest on a tree by using its own weight without any energy expenditure. The pressing force from wheels to tree increases at the posture adjustment control because there has no automatically loosening by a self-locking of the worm-gear. In this paper, we present posture control considering pressing force and control evaluation.