A modular robot climbing on pipe-like structures

Mämpel, Jörg; Gerlach, Kurt; Schilling, Cornelius; Witte, Hartmut

doi:10.1109/icara.2000.4803967

Cited by 12 publications

(7 citation statements)

References 14 publications

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“…The biomimetic live working robot is inspired by the motion of inchworms. The inchworm has two rows of legs on its head and tail that can latch, stick, or suck onto objects to support its body, as shown in Figure 2a [18,19]. The movement and operation principle of the robot also comes from this.…”

Section: Mechanical Structurementioning

confidence: 99%

“…The motor's torque sensing method, along with the components and modularization method of the torque-controllable actuator unit are elucidated herein [17]. A modular robot was envisaged to climb on a pipe-like substrate and to change to another bar [18]. Guan's team designed a modular biomimetic robot and carried out climbing and operating tests [19][20][21][22][23][24][25][26].…”

Section: Introductionmentioning

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: Mechanical Structurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Modular Biomimetic Live Working Robot for Power Distribution Line

2022

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“…The locomotion module is encompasses with a servo drive system, electronic hardware, rigid aluminium frame and each module are connected by direct or passive elements. Servo motor with a special type of gear arrangement offers t torque that generates gripping force between gripping module and the substrate [64].…”

Section: Limbless Locomotionmentioning

confidence: 99%

Locomotion Methods of Pipe Climbing robots: A Review

Chattopadhyay¹,

Ghoshal²,

Majumder³

et al. 2018

JESTR

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Inspections of industrial pipe lines by the robots are essential as these autonomous systems are applied to explore inaccessible positions. Their intelligence and reliability ensure operators to monitor and control various part of the plant from a safe location. The complex geometry, hazardous content materials, pipe bends etc. have forced for judicious designing of the insisted robots. The improvement has grown rapidly and different types of locomotion systems have been introduced. This paper undergoes with locomotion techniques of various IN-pipe and OUT-pipe climbing robots with proper examples. A comprehensive classification of the discussed robots has been prepared based on this study.

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“…Continuous motion PCRs usually use wheels both for climbing and gripping (Baghani et al, 2005;Xu and Wang, 2008;Waldron et al, 2009). Step-by-step-based PCRs generally have two grippers on two sides which are connected through a multi-DOF climbing mechanism (degree of freedom -DOF) (Kotay and Rus, 2000;Armada et al, 2005;Balaguer et al, 2005;Yoon and Rus, 2007;Mampel et al, 2009;Tavakoli and Marques, 2011). Compared with the step-bystep-based PCRs, the continuous motion PCRs move faster, but they are not able to pass all kinds of obstacles spreading all over the steel tower due to their encircling gripper design.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a climbing robot for pylon maintenance

Zhao

Liu

et al. 2018

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Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks. Design/methodology/approach The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism. Findings The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II. Practical implications The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification. Originality/value This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.

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A modular robot climbing on pipe-like structures

Cited by 12 publications

References 14 publications

A Novel Modular Biomimetic Live Working Robot for Power Distribution Line

A Novel Modular Biomimetic Live Working Robot for Power Distribution Line

Locomotion Methods of Pipe Climbing robots: A Review

Design and analysis of a climbing robot for pylon maintenance

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