Numerical Analysis of a TCR Adaptive to Different Tree Diameters for Unstructured Forest Environment: A TCR of Variable Diameter with Different Tree Diameters

Figure 9

Torque time characteristic curves of the upper and lower robot arms of the TCR around the Z-axis. (a) Torque-time characteristic curve of the upper robot arm around the Z-axis. (b) Torque-time characteristic curve of the lower robot arm around the Z-axis.

(a)

(b)