Multi-link combination manipulator for care thinning

The article considers options for modernizing the design of the manipulator of a logging machine to implement a method of processing trees upside down by multistage bucking of trees in height, ending with the separation of the tree from the stump. The purpose of the research was to develop and analyze the design of a multi-link combined manipulator with the extension of the working body to a distance of more than 18 m. Manipulator designs were proposed with the modernization of the articulated truss by introducing additional links and the formation of pantograph mechanisms. The structural and kinematic schemes of two variants of multi-link combined manipulators are shown. Experimental models of the proposed designs of multi-link combined manipulators with a change in their length are presented. Photographs of physical models of experimental manipulators collected to prove the theoretical results are presented. Models of manipulators with scale of 1:10 were used for the experiment. For the possibility of quickly changing the position of the articulated truss structure and fixing it, a sliding rod with a stepped retainer (fixing step of 5 mm) was used, simulating the operation of the manipulator hydraulic cylinders. Based on the structural analyses of kinematic schemes of multi-link combined manipulators, a solution was found to the design of the articulated truss of the telescopic arm of the manipulator by adding additional levers forming pantographic mechanisms for extending movable sections. It is proved by mathematical calculations that the use of an articulated truss as a mechanism for extending movable sections creates conditions for increasing the output of the manipulator while maintaining a unified transport and energy module without the use of additional hydraulic cylinders and rope-block systems. Structural analysis has shown that the proposed structure of the manipulator with a pantograph mechanism for extending the movable sections of the telescopic handle is workable.

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