立木整枝机设计方法与主要参数的研究

该文研究了立木整枝机的工作方式、切削机构、传动机构，提出了螺旋式上升、锯链式切削机构、机械传动是较为理想的整枝机的工作方式.同时，对整枝机的工作参数、对象进行研究，提出了整枝机的合理工作参数，设计了一套测试系统；采用测力传感器测定整枝机系统轮胎与树木的作用力，计算出了轮胎与树木之间的摩擦系数；测定了侧柏、银杏、刺槐等几种主要树木的摩擦系数，为整枝机的动力选择提供了重要的依据. 

Design method and main parameters of standing tree pruning robot

This paper is on working mode,cutting mechanism and transmission of standing tree pruning robot.It was pointed out that pruning robot with spiral rise,chain cutting equipment and mechanical transmission was ideal working mode.In addition,the ideal working parameters were provided based on the research of working parameters and the object of pruning robot.During the research,a test system based on force sensor was developed,the friction coefficients between tyre and standing tree trunk of arborvitae,ginkgo and acacia were measured by the test system.This paper provides important data for the power selecting of pruning robot.