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

摘要

SUMMARY 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.