Abstract
The robots moving on a rope are an interesting domain with research potential and various applications. This paper reports on the design of a rope climbing robot design and its analysis. The rope climbing robot uses wheels powered by the DC motors for climbing the vertical rope. It can traverse horizontal ropes as well. The springs attached to the wheels are used for passive clinging of the robot to the rope. The stiffness of the spring was calculated on the basis of the payload and the motion capabilities of the robot. The proposed design gives two degrees-of-freedom (DOF) to the robot, i.e., translation and rotation about the rope. The power required for climbing at different inclinations is reported. The design proposed here is of low cost, easy to build, and control. It can be useful for surveillance purposes, for delivering help in disaster situations, inspection of cable suspension bridges, power plant chimneys, and cooling towers.
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Acknowledgements
We are thankful to all the members of robotics club in making the first version of the rope climbing robot at SVNIT. We would like to acknowledge the members of Programme for Autonomous Robotics (PAR) lab (build in collaboration with DRHR/BARC, Mumbai) at IIT Delhi and especially Mr. Anil Patidar for his valuable comments and support.
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Ratanghayra, P.R., Hayat, A.A., Saha, S.K. (2019). Design and Analysis of Spring-Based Rope Climbing Robot. In: Badodkar, D., Dwarakanath, T. (eds) Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8597-0_38
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DOI: https://doi.org/10.1007/978-981-10-8597-0_38
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