Brachiating Robot Analysis and Design

摘要

A robot with the ability to brachiate could prove to be very useful in reducing the number of work related accidents due to falling from high altitudes or maintenance of high voltage towers. It could also help a company's bottom line by reducing the number of workers required to accomplish a task. In addition, it can be used to scale lattice structures for inspection. Inspired by nature, gibbons prove to have the best pendulum like motion and power to weight ratio. In this paper, we investigate the mechanics of gibbons and try to simplify its dynamics by a mechanical system. A simple way to characterize the motion of a gibbon is a two-bar linkage controlled by one motor. It has proven that this mechanism can achieve a good power to weight ratio and can approach the desired motion. By exploiting this motion, the device can create its own momentum to swing, and utilizing a system of grippers to grab and release members, will have the ability to navigate any structure. Furthermore, outfitting these robots with inspection tools such as cameras could allow the inspection of transmission towers and bridges safer, easier, and quicker. The hands-on approach of a mechanism like this could also accomplish tasks that may prove to be too dangerous or difficult for drones to accomplish.