Design And Development Of Pole Climbing Robot

Mau, Han Pink (2015) Design And Development Of Pole Climbing Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Design And Development Of Pole Climbing Robot.pdf - Submitted Version Download (385kB)

Abstract

Typical high- risk tasks in agriculture, forestry and architecture such as maintaining high-voltage wires on high poles, inspecting, maintaining street lamp on poles, assembling and disassembling frames for building construction and high truss architectures are still required human being to complete the tasks. Sometimes human not able to bring enough tools or equipment when they are doing the high-risk tasks. Therefore, pole climbing robots are useful in helping humans to carrying out the tools. This project is aim to design a pole climbing robot and develop motion algorithm for pole climbing robot to climb poles. Pole climbing robot is a mobile robot that can climb pole and help human to delivery enough tools or equipment at construction side or dangerous place. The design of the body and the gripper are inspired by climbing motion of inchworm and drawn using Solidwork. The body of pole climbing robot is designed with multiple revolute joint by using T-types and I-types joint modules. The end effectors of the robot are two grippers, which are mounted at the end of the body. Each gripper is driven by servo motor and had been develop 4-bar linkage mechanism. Consequently, the pole climbing robot not only can be climbing poles, but also to grasp and delivery object during climbing pole. In near future, the climbing gait of pole climbing robot can be improved and obtain more complicate, including transfer between two poles.

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