A Biologically Inspired Cable Climbing Robot: CCRobot - Design and Implementation

摘要

In this paper, a novel biologically inspired design for a cable climbing robot called CCRobot is presented. It consists of two main components: the gripping module and the parallel manipulator. The weight of CCRobot is approximately equal to 15 kg, and its load capacity is at least 30 kg. Its maximum climbing speed is more than 3 m/min, which is a high value in the field of cable climbing robot. Moreover, CCRobot is capable of performing various actions such as moving along a cable trunk with a certain range of bending or with some obstacles. Numerous on-cable locomotion implementations of CCRobot show that the proposed design is effective.