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

摘要

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.