The Design and Control of a Double-saw Cutter on the Aerial Trees-pruning Robot

In this paper, a double-saws cutter on the aerial trees-pruning robot is designed for the task of cleaning up tree barriers along high-voltage power lines. And the structure and control method of the cutter are presented in detail. The design features four rotors for lifting propellers assembled on the robot body, two thrust ducted propellers for boost, as well as a robot arm on which the cutter is equipped at the end. And the robot is suitable for implementing fast-cleaning in the way of “shaved head” from the side to the inside branches. Also, the kinematics and dynamics of the novel model are presented in this paper, followed by a full state control method. Simulation and field test results prove the validity of the modeling and control method of the cutting operation and robot trajectories.