Development of Pole-Like Tree Spiral Climbing Robot

Mustapa, Muhammad Adli; Othman, W. A. F. W.; Bakar, Elmi Abu; Othman, Abdul Rahim

doi:10.1007/978-981-10-8788-2_26

Cited by 12 publications

(6 citation statements)

References 8 publications

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“…Although experts and scholars of various countries have developed several climbing robots [5][6][7][8][9][10][11][12][13], in practical application, the power distribution live working robot system needs to have the following capabilities and functions:…”

Section: Demand Analysismentioning

confidence: 99%

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A Novel Modular Biomimetic Live Working Robot for Power Distribution Line

2022

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Live working on power distribution lines is an effective way to improve the reliability of power supply. The aerial lift device with an insulated boom is often used as a platform to carry out live working, which is difficult to carry out in mountainous areas, paddy fields, and other complex environments. At the same time, power distribution live working requires highly skilled operators, and a lot of personal security measures, which is not conducive to the application in some developing countries. We imagine that the solution of the above problem is to use a robot to climb up the pole and complete the live working instead of the operator. In this article we report a low-cost modular biomimetic robot. The structure of the robot is designed to meet the requirements of live working, and the motion mechanism of the robot climbing poles and performing live work is analyzed. The feasibility of the technology is verified through simulation, experiments, and tests.

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Section: Demand Analysismentioning

confidence: 99%

“…Biomimetic robots for the operation of electrical equipment are also increasingly mentioned, various prototypes of biomimetics are being established [13]. These biomimetic robots can reproduce biological behaviors of trunks, tentacles, or snakes [14].…”

Section: Introductionmentioning

confidence: 99%

A Novel Modular Biomimetic Live Working Robot for Power Distribution Line

2022

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“…Climbing robots are divided into wall climbing robots [6][7][8][9][10] and tree climbing robots [11][12][13][14]. Most of the current tree-climbing robots are mainly wheeled, clawed and biomimetic [15], among which the wheeled tree climbing robot [16][17][18][19][20][21] mostly uses the ways of encircling to realize the climbing function of the tree climbing robot.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Wang¹,

Huang²,

et al. 2020

Preprint

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In this paper, a novel tree climbing robot mechanism was designed, based on the tree climbing movement and posture of the primates. The overall design and tree climbing gait of the tree climbing robot were analyzed in detail. According to the screw theory, the DOF of the leg of the tree climbing robot is calculated. The forward and inverse kinematics equations of the tree climbing robot were established and solved. The kinematics of the leg parallel mechanism was established, furthermore, the singularity of the leg mechanism was analyzed and three types of singularity were derived. The simplified diagrams and the corresponding model diagrams, at the singular points, were drawn. Finally, the movement is simulated and analyzed. And the changes of the leg joint angular and the foot-end displacement and the relationship between the driving displacement and angles of the tree climbing robot by numerical simulation is obtained at the same time. Prototype physical model of the tree climbing robot was made, which further verified the rationality and feasibility of the tree climbing robot mechanism studied in this paper.

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“…The robot designed by Mustapa et al [2] can climb and move spirally around a pole-like tree having a circumference of around 40 cm. Furthermore, the designed robot can carry a payload of 10 kg.…”

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confidence: 99%

“…The grasping-based climbing robot uses a claw or a gripper type mechanism to hold onto the surface; these include the works of [1,[3][4][5][6][7][8]. Meanwhile, the wheeled-based climbing robot uses wheels to contact the climbing surface; the robot moves when the wheels are rotating [2,[9][10][11][12][13][14].…”

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confidence: 99%

Development of a Mini Pole-Climbing Robot

Jairan

Leong

Mohd-Foazi

et al. 2021

Lecture Notes in Electrical Engineering

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This article introduces the design of a mini pole-climbing robot that can climb up and down a pole without using wheels as the locomotion mechanism. The system is implemented with a microcontroller, Arduino MEGA, while the robot's climbing mechanism uses servo motors and a combination of grippers and gears. The robot imitates the locomotion of a worm. In the results, the pole-climbing robot can climb up a 3.2 cm diameter pole with a speed of 2.696 mm/s and climbing down with a speed of 2.75 mm/s. For the operation of the servo motor, the microcontroller outputs a voltage of 2.94 V. IntroductionRobot exists in various types of application. In this paper, a robot is designed for climbing a pole. As we live in the modern era, many works had changed from human power to the robot power-this help to increase production as well to minimize injury to human. Today, many designers design a robot that can do heavy work that seems to be too complicated and life-endangering for humans. The benefits of using robots have been immersed in risk-free, speed, and efficiency of doing the required task.Pole-climbing or tree climbing robot is one kind of robot specializing in climbing upward and downward of a pole or a tree. Robots are built specifically to do a specific task. For example, claw type gripping robot climber cannot be used on the

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Development of Pole-Like Tree Spiral Climbing Robot

Cited by 12 publications

References 8 publications

A Novel Modular Biomimetic Live Working Robot for Power Distribution Line

A Novel Modular Biomimetic Live Working Robot for Power Distribution Line

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Development of a Mini Pole-Climbing Robot

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