Design & Modeling of a Tractor Wheel-Based Climbing Robot for Circular Pole with Two Degree of Freedom

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“…A device designed for tree climbing, for instance, utilizes cylindrical wheels to securely mount and grip the circular surface of the climbing rod ( 17 ). Similarly, Ladd et al created a pole climbing robot with cylindrical wheels for efficient pole climbing ( 18 ). Sadeghi et al introduced a pole climbing robot with curved wheels, enhancing surface grip, and implemented a spring mechanism for added tension ( 19 ).…”