The diploma thesis presents the development of a gripper for an autonomous robot that is capable of climbing on the vertical trees. In the development of the gripper, in addition to the existing state of the art, we also examined solutions from nature. The developed gripper adheres wooden surfaces mechanically. The gripper has three flexible feet that close and open with an electric motor. The foot is flexible, and the contact with the surface of the tree creates through the needles. The most important parameter of the foot was identified as the contact angle of the needles with a wooden surface. In order to determine the optimum angle, a test environment was created based on a block that slides on a ramp with a frictional force. The block has a series of contact needles in the jaw, which can change the inclination with respect to the sliding surface. The experiment was recorded as slipping from the ramp. We made measurements with different angles of contact and load loads. We obtained the best results with an angle of 45 ° at higher loads.
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