A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications

Authors: Tavakoli, M.; Zakerzadeh, M.R.; Vossoughi, G.R.; Bagheri, S.

Source: Industrial Robot: An International Journal, Volume 32, Number 2, 2005 , pp. 171-178(8)

Publisher: Emerald Group Publishing Limited

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Abstract:

Purpose - Aims to describe design, prototyping and characteristics of a pole climbing/manipulating robot with ability of passing bends and branches of the pole. Design/methodology/approach - Introducing a hybrid (parallel/serial) four degree of freedom (DOF) mechanism as the main part of the robot and also introduces a unique gripper design for pole climbing robots. Findings - Finds that a robot, with the ability of climbing and manipulating on poles with bends and branches, needs at least 4 DOFs. Also an electrical cylinder is a good option for climbing robots and has some advantages over pneumatic or hydraulic cylinders. Research limitations/implications - The robot is semi-industrial size. Design and manufacturing of an industrial size robot are a good suggestion for future works. Practical implications - With some changes on the gripper module and the last tool module, the robot is able to do some service works like pipe testing, pipe/pole cleaning, light bulb changing in highways etc. Originality/value - Design and manufacturing of a pole-climbing and manipulating robot with minimum DOFs for construction and service works.

Keywords: Design; Kinematics; Parallel programming; Poles; Robotics

Document Type: Research article

DOI: http://dx.doi.org/10.1108/01439910510582309

Publication date: 2005-04-01