Analysis on four legged multipurpose rope climbing robot

Abstract

This paper discusses the steady state dynamic behavior of a four legged multipurpose rope climbing robot. The kinematic structure of the robot has been designed to maximize the stability in the rope climbing application while depending on a minimum number of actuators. The paper presents the derivation of kinematics and dynamics of the robot. Detailed simulations carried out based on the dynamics of the robot demonstrate that state trajectories of the center of mass of the robot stays within dynamically stable bounds for bounded control inputs.