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

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.

Citation

Tavakoli, M., Zakerzadeh, M.R., Vossoughi, G.R. and Bagheri, S. (2005), "A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications", Industrial Robot, Vol. 32 No. 2, pp. 171-178. https://doi.org/10.1108/01439910510582309