POLE CLIMBING PNEUMATIC ROBOT

摘要

A robot able to climb poles was built. The robot consists of a pneumatic flexible actuator as the body with the upper and lower heads supporting the devices that catch the pole. Passive, no actuated, pole locking was provided. The robot kinematics was inch-worm inspired. A complete gait consists of stretching and restoring sequence of the body length. In the stretching phase the lower locking device can stick to the pole whereas the upper locking device can move up freely. In the restoring phase the locking devices work switched. A numerical model of the robot dynamics was developed as well. The inputs for the model were obtained by experimental data. In doing that, a full experimental characterisation of the robot was carried out.