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A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications

Tavakoli, M ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. DOI: 10.1108/01439910510582309
  3. Publisher: 2005
  4. Abstract:
  5. Purpose - Aims to describe design, prototyping and characteristics of a pole climbing/manipulating robot with ability of passing bends and branches of the pole. Design/methodology/approach - Introducing a hybrid (parallel/serial) four degree of freedom (DOF) mechanism as the main part of the robot and also introduces a unique gripper design for pole climbing robots. Findings - Finds that a robot, with the ability of climbing and manipulating on poles with bends and branches, needs at least 4 DOFs. Also an electrical cylinder is a good option for climbing robots and has some advantages over pneumatic or hydraulic cylinders. Research limitations/implications - The robot is semi-industrial size. Design and manufacturing of an industrial size robot are a good suggestion for future works. Practical implications - With some changes on the gripper module and the last tool module, the robot is able to do some service works like pipe testing, pipe/pole cleaning, light bulb changing in highways etc. Originality/value - Design and manufacturing of a pole-climbing and manipulating robot with minimum DOFs for construction and service works. © Emerald Group Publishing Limited
  6. Keywords:
  7. Degrees of freedom (mechanics) ; Design ; Hydraulic equipment ; Industrial management ; Industrial robots ; Kinematics ; Poles ; Robotics ; Building maintenance ; Climbing robots ; Parallel programming ; Service applications ; Robots
  8. Source: Industrial Robot ; Volume 32, Issue 2 , 2005 , Pages 171-178 ; 0143991X (ISSN)
  9. URL: https://www.emerald.com/insight/content/doi/10.1108/01439910510582309/full/html