Optimization of the Fastening Force

Abstract

The proposed tree gripper introduced in Chapter 4 is simple in control. It also implies that it has less controllability. In order to tackle the variant environment in limited controllability, the setting of the gripper should be optimized so as to maximize the fastening force in a wide range of surface curvature. The optimized items include the spine installation angle and the spring force distribution so as to provide optimal spine insert angle and direction of action force over a wide range of surface curvatures. On-tree experiments of the proposed mechanism will be presented at the end of this chapter to evaluate the optimization results.