A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment

Abstract

A novel design for a robot grappling hook for use in a nuclear cave environment. 49 (21 Disclaimer UWE has obtained warranties from all depositors as to their title in the material deposited and as to their right to deposit such material. UWE makes no representation or warranties of commercial utility, title, or fitness for a particular purpose or any other warranty, express or implied in respect of any material deposited.UWE makes no representation that the use of the materials will not infringe any patent, copyright, trademark or other property or proprietary rights. UWE accepts no liability for any infringement of intellectual property rights in any material deposited but will remove such material from public view pending investigation in the event of an allegation of any such infringement. PLEASE SCROLL DOWN FOR TEXT. A Novel Design for a Robot GrapplingHook for use in a Nuclear Cave EnvironmentTom Bridgwater * Gareth Griffiths * * Alan Winfield * * * Tony Pipe * * * * * Bristol Robotics Laboratory, Bristol, BS16 1QY, United Kingdom (e-mail: tom bridgwater@msn.com). * * (e-mail: gareth.griffiths@brl.ac.uk). * * * (e-mail: alan.winfield@uwe.ac.uk).* * * * (e-mail: tony.pipe@brl.ac.uk).Abstract: Within the field of robotics there exist few designs for detachable grappling hooks. This paper focusses on the novel design of a detachable grappling hook for use within a nuclear cave environment. The design seeks to exploit the complex network of pipes that is present within a nuclear cave. It is hoped that the grapple may be used to aid with mapping and characterisation of the nuclear cave, as well as increasing the movement capabilities of robots within the cave. It is shown that our prototype grapple is able to support on average 2.4kg of mass, or thirty times its own weight. In addition when dropped from a height of 7.5cm, which removes ballistic instability, the grapple is able to engage itself 87% of the time. Finally the minimum speed that the grapple must be travelling, in order to secure itself to its target, is found to be 1.08m/s.

Rough Terrain Traveling Method Using an Elastic Telescopic Arm and a Tether

“…Finally, the effectiveness of tethered rough terrain traveling method was demonstrated in a step-climbing experiment. (Note that there are previous studies regarding the method of removing the hook [10] [11], which are not dealt with in this paper. )…”