Developing a bioinspired pole climbing robot

摘要

This paper proposes a pole climbing robot that has an ability to climb pipes. The novelty of this design is that it uses no motors to climb on the pole. Till now many robots have been fabricated with the ability to climb pipes but most of them solely depend on DC motors. The use of DC motor induces the risk of loosening the grip of the robot in case of power failure that may lead to disastrous situations if robot is working on high altitudes. This could be easily avoidable by the use of electro-pneumatics and by using self-locking circuits. We used two pairs of pneumatic cylinders as linear actuators for gripping the pole i.e. one pair for one claw. Besides this two more cylinders are used for climbing purpose. Unlike other mechanisms, installation is extremely easy. It is like controlling a radio controlled car. This mechanism can be easily modified for different payload capacities by simply using the appropriate diameter of the pneumatic cylinders. The robot can be controlled in tele-operated mode as well as autonomous mode which is a closed loop system. It has a high accuracy with 4mm error per cycle that has a cycle time period of 5 seconds. This robot can be very useful in oil industries for inspection of pipes and power poles in electric industries. It can serve of great help in cases of emergency situation caused during fire accidents.