Design and Implementation of a Tree Climbing Robot

This work proposes a straightforward climbing mechanism for a tree climbing robot. The proposed robot consists of a body, a lower- and an upper-gripper. Each gripper has four fingers that actuated by an electric series elastic linear actuator. The body is equipped an electric linear actuator that help the robot to be extended or collapsed. Four loadcell sensors are attached at the end of the elastic elements to measure their corresponding compression forces which are proportional to the holding forces of the grippers. Three ultrasonic sensors are used to measure the linear actuator stroke displacements which would be used to control the holding forces, estimate the tree diameters and/or the tree heights. The robot is remotely controlled through a long-range radio frequency communication by using a Lora32 receiver and transmitter