A Novel Serial/Parallel Pole Climbing/Manipulating Robot: Design, Kinematic Analysis and Workspace Optimization with Genetic Algorithm

摘要

This paper introduces an optimized multi-task novel 4 DOF pole climbing/manipulating robot for construction works. The robot can travel along poles with bends, branches and step changes in cross section. It is also able to perform manipulation, repair, testing and maintenance tasks after reaching the target point on the pole. A hybrid serial/parallel mechanism, providing 2 translations and 2 rotations, have been designed as the main part of the mechanism. Optimization of this robot contains workspace optimization of the proposed mechanism and decreasing the total time of reaching the target point, has been established with genetic algorithm method.