Design of a climbing robot for cylindro‐conic poles based on rolling self‐locking
Abstract
Purpose
The purpose of this paper is to describe designing Pobot V2, a robot capable to climb poles with a cylindrical or conical shape.
Design/methodology/approach
This paper describes the design of the pole‐climbing robot Pobot V2, based on the innovative principle of rolling self‐locking that uses no energy to maintain itself at a given altitude.
Findings
The robot is also capable of avoiding tangential obstacles, crossing small collars and regulating passively its normal contact force on conical poles with a diameter that evolves from 300 to 100 mm. The work is validated by experiments. The robot can also perform axial rotation, can cross‐tangential obstacles and climb poles with a strong conical shape, due to passive normal force regulation with springs and a force amplifying linkage. The first experiments showed excellent stability during vertical climbing.
Research limitations/implications
More work will be required to make the robot more rigid, more compact, and lighter. The robot is jointly patented by Thales and IFMA.
Originality/value
It is original because of its rolling self‐locking concept: rolling allows continuous ascension whereas self‐locking guarantees a null energy consumption while staying still on the pole.
Keywords
Citation
Fauroux, J. and Morillon, J. (2010), "Design of a climbing robot for cylindro‐conic poles based on rolling self‐locking", Industrial Robot, Vol. 37 No. 3, pp. 287-292. https://doi.org/10.1108/01439911011037695
Publisher
:Emerald Group Publishing Limited
Copyright © 2010, Emerald Group Publishing Limited