Publication: Development of tree climbing robot
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Date
2020-08-01
Authors
Johari, Mohamad Ridzhuan
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Abstract
This project is about designing and building a tree climbing robot that moves vertically on a tree. This robot is designed to help the work of inducing the agarwood tree. This robot is designed to climb trees that have a perimeter of 40 cm perimeter. The weight of this robot is 10 kg and this robot uses a wheel or tire mechanism as a movement to climb and descend a tree. These robots use force or pressure from springs that have been specially designed to hold the weight of the robot so that it sticks to or can withstand the load or traction imposed on the tree. This robot can only move at 0⁰ degrees. The robot consists of two main modules, the driver module and the support module. There are 2 motors on the driving module driven by 2 direct current (DC) motors namely "Power Window". In addition, the support module is made up of 6 castor ball presses by the spring inserted into a "shaft" affixed to the supporting module. The use of this spring facilitates the support module to act as a flexible support that can be adjusted according to the perimeter of the climbing tree, thus making the robot more stable as it climbs. In addition, the use of the Arduino Mega Microcontroller which acts as a controller for the robot's ascending and descending mechanisms makes the robot able to move without obstruction. There are various data that have been collected to ensure the effectiveness and performance of robots in
climbing and descending tree such as the robot is tested at the power source at 11.76V, 7.17V with load at the 0,500g and 100g. The data shows the average time taken for
power source at 11.76V at 0, 500g and 100g payload is 3.667s, 3.813s and 4.281s. For the time taken at power source of 7.17V at 0, 500g and 100g is 5.34s, 7.70s and 7.813s.
This data shows that result for real and theoretical time taken can practically proven.