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Abstract-This paper proposes a novel application of the Stewart-Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedom parallel robot is described, based on spatial constraint formulation. Finally, the gait pattern and the climbing strategy of the parallel robot is described. The information from this research is being used in an actual climbing parallel robot design at Miguel Hernández University of Elche (Alicante), Spain.

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Purpose -The aim of this paper is to present new robotic structures that can be suitable for inspection, maintenance and dismantling tasks in nuclear facilities. Design/methodology/approach -In the first part, two types of parallel robots capable to climb through structures are presented. The kinematics of the proposed platforms is reviewed, with emphasis on the analysis of the singularities. Next section shows the control architecture and the hardware setup of the developed system. Finally, the prototypes developed are showed and some conclusions are obtained. Findings -The slave robot is a parallel structure with the ability to climb over structures and with a very high load capacity. The master device is a parallel device with special characteristics that makes easier the teleoperation of the parallel slave robot. Originality/value -The paper presents a teleoperation system based on parallel platform with 6 degrees of freedom to overcome the classical difficulties of teleoperation in nuclear facilities.

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