Simulation and Analysis of Planetary roller screw in Tree-climbing and Pruning robot

摘要

Abstract Planetary roller screw is an important part of tree-climbing and pruning robot, and its vibration directly affects the safety of the whole machine. The ideality model of planetary roller screw was established based on TRIZ theory, which verified that the excellent performance of planetary roller screw was better than sliding screw and ball screw to a certain extent. The three-dimensional model was built by Proe, and the virtual prototype was built by ADAMS. The roller rotation speed and nut translation speed obtained by kinematics simulation were completely consistent with the theoretical value, which verified the accuracy of the virtual prototype. The natural frequency and vibration mode of planetary roller screw were obtained by ANSYS modal analysis. In practical applications, the natural frequencies of the components can be adjusted by modifying the relevant structural dimensions to avoid the possible resonance of the system or reduce the system vibration. The structural rigidity of the tree-climbing and pruning robot can be improved by appropriate modification of the planetary roller screw structure.