Dynamic Balance System Design and Control for High-Branch Pruning Machine

Abstract

The developed high-branch pruning machine is a novel type of high-altitude operation machine which can realize tall tree pruning work. Operators can adjust manipulator posture and cutting position through friendly Human-Machine-Interface (HMI) to control pruning saw realizing pruning operation. Based on the previous research, dynamic balance problem of the machine caused by the posture adjustment of the manipulator is considered in this paper. Firstly, working principle of the high-branch pruning machine, manipulator mechanical structure and basic dynamic balance principle are elaborated. Secondly, the correspondences between manipulator posture and tilting torque, tilting torque and counterweight displacement, are studied based on kinematics analysis and mechanical structure analysis. Thirdly, Consider the numerical calculation and analysis results, the structure of the dynamic balance system and control method are designed. Finally, it is verified by the prototype pruning test in the open area. The test results show that the pruning machine can achieve dynamic balance under the given control algorithm.