Wheeled Pole-Climbing-Robot With High Payload Capability, Using a Clamping Mechanism Which Is Inspired by the Rope-Clamps in Human Climbing

Abstract

This paper describes the concept, design and prototype implementation of a wheeled pole-climbing-robot with high payload capability, which is planned for climbing palm trees, masts of telephone cables or lamp posts. It uses a new clamping mechanism which is mainly inspired by the rope-clamps that are used for human climbing (common name: "jumars"). By adapting this principle to the field of wheeled pole-climbing robots, a very high payload capability can be achieved -without any additional constraints concerning the stiffness of springs or the position of the robot's center of mass. After an introduction chapter that points to the importance of the above-mentioned advantages in specific applications and the drawbacks of previous designs; the basic mechanical principle of the clamping mechanism is explained with a 2D calculation model. This analysis is followed by the description of the first prototype robots: A preliminary prototype at small size for proving the functionality of the concept; and the conceptual design of a pole-climbing robot for real industrial applications -planned for pole-diameters from Ø0.2 to Ø0.5m and a payload capability of up to 100kg. The paper concludes with successful experiments that have been performed with the prototype robot at small size, and a discussion of the most critical components for the planned design at big size.