Is there a robot that can replace human climbing trees and picking coconuts? Recently, the latest issue of IEEE / ASME transactions on Mechatronics published a paper describing tree climbing robots. The author designed a tree climbing robot named Amaran, which can replace human pickers to climb up to ten meters high coconut trees to pick coconuts. Rajesh Kannan megalingam, an assistant professor at amrita Vishwa vidyabeetham University, said the team had been developing the robot since 2014. “There are no two identical coconut trees in the world,” he said. In addition to different sizes, the arrangement of coconut clusters and leaves is unique. So it’s very challenging to design a perfect robot. ” < / P > < p > in laboratory tests, megalingam and his colleagues found that Amaran was able to climb the coconut tree successfully when the trunk angle reached 30 degrees from the vertical axis. In some specific environmental conditions, many coconut trees grow at such an angle, which provides a rich practical operation scene for this robot. < / P > < p > in order to climb the coconut tree successfully, Amaran has to rely on a circular trunk that can hold the coconut trees of different diameters tightly. In terms of the overall structure, the robot is composed of four parts: control module, motor drive, power management component and wireless communication interface. < / P > < p > first take a look at Amaran’s Climber (referred to in the text as robotic climber), which has eight wheels to climb up and down trees and rotate around the trunk. < / P > < p > with the climbing device, Amaran only realizes the function of tree climbing. In order to successfully harvest coconuts, a picking device is needed, and the robotic harvester is about to show its ability. < / P > < p > the ground operator can use two types of controllers to control the robot’s action: a joystick based controller and a smartphone based app. < / P > < p > Figure 4 shows the schematic diagram of the joystick controller, including five important components: joystick, MCU (micro control unit), Bluetooth, power management and button. < / P > < p > when Amaran is on the top of the coconut tree, the ground operator uses a smartphone app aroha to drive the climber and manipulator. The schematic diagram of the app is as follows: < A= target=_ blank>Didi Qingju bicycle has entered 150 cities