Design of Climbing Mechanism for a Tree Climbing Robot

Abstract

Evolution in nature has given organisms a highly efficient body. These organisms if imitated can be very useful in design of efficient tools, structures or machines. We have devised a mechanism inspired by shrimp known as Stomatapod-whose entire body acts like a distributed foot facilitating it move in the most rugged terrains with agility. Hence this locomotive mechanism has been imitated to make an efficient climber. The grippers are designed in such a way that they hold the trunk of the tree-within a defined range, using the concept of passive compliance. This mechanism can be used to climb poles or straight trees. This mechanism is different from the existing ones.