Standing tree pruning in fast-growing forests is an essential part of the targeted nurturing of quality fast-growing forests. Because of the high risk and low efficiency of traditional pruning methods, a climbing and pruning robot was developed, its design was optimized, and related experimental research was carried out. This paper describes the design scheme of the Monkeybot mechanical structure and control system and theoretically analyzes the clamping mechanism, walking mechanism, cutting mechanism, and obstacle avoidance mechanism to determine the critical design parameters. On the premise of ensuring a good pruning effect, Ansys Workbench Gui Explicit Dynamics was used for the cutting simulation experiment. The test adopts a three-factor and three-level orthogonal test method to explore the best design parameter combination when reducing the maximum shear stress on branches. A forest work performance evaluation was carried out using prototypes designed with the best variety of parameters. The forest test results show that the Monkeybot could prune trees with a diameter at breast height of 10~20 cm, the average operation time for pruning a tree was less than 30 s, the winter pruning effect was ideal, the maximum climbing height could reach 7.18 m, and the maximum pruning diameter could reach 2.79 cm. The development of the machine can provide equipment support for the research of fast-growing forest standing tree pruning and nurturing technology.

This study focuses on existing pruning equipment; cutting blades show cutting resistance and lead to high energy consumption. Using finite element (FEA) numerical simulation technology, the branch stress wave propagation mechanism during pruning was studied. The cutting performance of the bionic blade was evaluated with cutting energy consumption as the test index and the branch diameter and branch angle as the test factors, respectively. The test results showed that the blades imitating the mouthparts of the three-pecten bull and the beak of the woodpecker performed well in pruning, and the energy consumption during cutting was reduced by 18.2% and 16.3% compared to traditional blades, making these blades significantly better. These two blades also effectively reduced the cutting resistance and branch splitting by optimizing the edge angle design and increasing the slip-cutting action. In contrast, the imitation shark’s tooth blade increased cutting energy consumption by 14.4% due to the large amount of cutting resistance in the cutting process when cutting larger-diameter branches, making it unsuitable for application in the pruning field. Therefore, the blades imitating the mouthparts of the three pectins and the beak of the woodpecker have significant advantages in reducing the cutting resistance and improving the pruning quality. These findings provide an important theoretical reference for the development of energy-efficient pruning equipment.

This study addresses the necessity for a more profound comprehension of the mechanical behavior and fracture mechanisms of tree branches during impact pruning. The methodologies of the research are to develop a failure model of impact-cutting mechanics and a tool–branch interaction model using the finite element method (FEM). The validation of the model was conducted through the measurement of cutting forces and cross-sectional morphology in the field. A comparative analysis between experimental and simulation data revealed an average relative error below 15% for cutting force and below 10% for the cross-sectional ratio, thereby confirming the accuracy of the model. The findings indicate the presence of plastic deformation within the cutting zone, with elastic deformation prevailing in the surrounding region. As the branch approaches the yield point, the phenomenon of plastic deformation intensifies, resulting in a notable increase in internal energy demands, particularly in larger branches. The optimal pruning diameter was identified as 15 mm. An increase in cutting velocity raises the peak cutting force by 460.9 N per m/s, while a 1° increase in the blade wedge angle adds 34.9 N. A reduction in normal stress by increasing the tool back angle improves energy efficiency. This study provides insights to optimize pruning practices, enhancing efficiency and precision.

As the main forest firefighting equipment, portable wind extinguisher plays a major role in forest and grassland firefighting. The same as other hand-held vibration machines, portable wind extinguisher inevitably causes hand-transmitted vibration which is an important cause of discomfort for operators, decreased work efficiency, and even health hazards. In this paper, a biomechanical response model of hand-transmitted vibration is established based on the operating posture of the wind fire extinguisher. A standard vibration test platform was set up for the test, and the model parameters were identified through the standard vibration test data. The vibration response predicted by the model is compared with the measured response of portable wind extinguisher to verify the feasibility of the model prediction. The vibration response of the standard vibration experiment platform was used to compare the influence of hand force on the hand-transmitted vibration response. The results show that the goodness of fit between the vibration transmissibility response predicted by the arm model and the response measured by the standard vibration test platform is between 75% and 92%, and the goodness of fit between the vibration transmissibility response predicted by the arm model and the response measured by the portable wind fire machine is within the range of 77%. The research in this article can provides theory and data basis for improvement of vibration reduction protection strategy and device of portable pneumatic extinguisher.