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Analysis, simulation, and implementation of a human-inspired pole climbing robot

Published online by Cambridge University Press:  15 June 2011

A. Sadeghi,
H. Moradi and
M. Nili Ahmadabadi
A. Sadeghi
Affiliation:
Robotics and Artificial Intelligence Laboratory, Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Room 709, North Kargar St. Tehran, Iran14395-515
H. Moradi*
Affiliation:
Robotics and Artificial Intelligence Laboratory, Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Room 709, North Kargar St. Tehran, Iran14395-515
M. Nili Ahmadabadi
Affiliation:
Robotics and Artificial Intelligence Laboratory, Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Room 709, North Kargar St. Tehran, Iran14395-515
*
*Corresponding author. E-mail: moradih@ut.ac.ir
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Summary

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In this paper, we present the design, static analysis, simulation, and implementation of a novel design for a naturally stable climbing robot that has been inspired from human pole/tree climbers. The other benefits of this robot, besides being naturally stable, are its simple design, ease of control, light weight, simple mechanism, and fast climbing speed. The robot consists of three wheels, two free and one active wheel, which enable the robot to climb or descend poles. The free wheels are almost frictionless, while the active wheel has enough friction to be able to apply force on the pole for stable climbing or descending. The wheels are designed in V-shape such that the robot can compensate for misplacements eliminating possible detachment from poles. Although the robot can operate with a single free wheel, however, an extra free wheel is added to increase the stability and safety of the robot. In this paper, the static analysis of the robot is presented and the robot is simulated. Furthermore, the robot is actually implemented and successfully tested in two sizes, a small size and a big/full size. The full-scale prototype has been equipped with washing and inspection tools and tested washing actual street lights. The results show the unique characteristics of this robot that make it more stable if more weight is carried.

Keywords

DesignService robotsNovel applications of roboticsTeleoperationBiomimetic robotsPole climbing robots

Information

Type
Articles
Information
Robotica , Volume 30 , Issue 2 , March 2012, pp. 279 - 287
Copyright
Copyright © Cambridge University Press 2011

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