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Design and Fabrication of a Column-Climber Robot (Koala Robot)

By Maziar Sadeghi and Amir Moradi

Abstract

Abstract—This paper proposes a robot able to climb Columns. This robot is not dependent on the diameter and material of the columns. Some climbing robots have been designed up to now but Koala robot was designed and fabricated for climbing columns exclusively. Simple kinematics of climbing in the nature inspired us to design this robot. We used two linear mechanisms to grip the column. The gripper consists of a DC motor and a power screw mechanism with a linear bushing as a guide. This mechanism provides enough force to grip the column. In addition we needed an actuator for climbing the column; hence, two pneumatic jacks were used. All the mechanical parts were designed according to the exerted forces and operational condition. The prototype can be simply installed and controlled on the column by an inexperienced operator. This robot is intended for inspection and surveillance of pipes in oil industries and power poles in electric industries. Keywords—Robot, Column-climber, Gripping mechanism, Koala

Year: 2011
OAI identifier: oai:CiteSeerX.psu:10.1.1.193.5237
Provided by: CiteSeerX
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