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Industrial Robot: An International Journal
ISSN: 0143-991X
Online from: 1973
Subject Area: Mechanical & Materials Engineering
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A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications
| Title: | A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications |
|---|---|
| Author(s): | M. Tavakoli, (Sharif University of Technology, Tehran, Iran), M.R. Zakerzadeh, (Sharif University of Technology, Tehran, Iran), G.R. Vossoughi, (Sharif University of Technology, Tehran, Iran), S. Bagheri, (Sharif University of Technology, Tehran, Iran) |
| Citation: | M. Tavakoli, M.R. Zakerzadeh, G.R. Vossoughi, S. Bagheri, (2005) "A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications", Industrial Robot: An International Journal, Vol. 32 Iss: 2, pp.171 - 178 |
| Keywords: | Design, Kinematics, Parallel programming, Poles, Robotics |
| Article type: | Research paper |
| DOI: | 10.1108/01439910510582309 (Permanent URL) |
| Publisher: | Emerald Group Publishing Limited |
| Abstract: | 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. |
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