Design and Analysis of an Armed-Octorotor to Prune Trees near the Power Lines

Trees are essential elements in the construction of green space since they provide many ecosystem services. But, some problems are created when they are placed right-of-way the power lines. These problems are caused due to contact tree branches with wires of power towers. This contact is one of the major reasons of interrupting power services. In addition, as a result of this contact, trees are also at risk. So, to avoid this, these branches need to be pruned regularly. To do this task, the safe environment is the first prerequisite since this task is dangerous for many reasons. Also, this task must be regularly done. So, an assumed robotic system can be available to do this task. In fact, the accuracy and quickness of operation is obtained using this system. So, in this paper, the use of this system is proposed. To this end, a chain saw system is designed in SOLIDWORKS software, which is carried by a flying robot. The assumed Unmanned Aerial Vehicle (UAV) is an Octorotor that was manufactured in AGRINS laboratory of Tehran University. To perform simulations and control of the flying robot, ADAMS and MATLAB software programs are linked together. To control this system, a usual PID controller is used.