TY - GEN
T1 - Design and Analysis of Spring-Based Rope Climbing Robot
AU - Ratanghayra, Pinank R.
AU - Hayat, Abdullah Aamir
AU - Saha, Subir Kumar
N1 - Publisher Copyright:
© Springer Nature Singapore Pte Ltd. 2019.
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
KW - Rope climbing robot
KW - Self-locking
KW - Spring-loaded assembly
KW - Two degrees-of-freedom
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U2 - 10.1007/978-981-10-8597-0_38
DO - 10.1007/978-981-10-8597-0_38
M3 - Conference contribution
AN - SCOPUS:85137067785
SN - 9789811085963
T3 - Lecture Notes in Mechanical Engineering
SP - 453
EP - 462
BT - Machines, Mechanism and Robotics - Proceedings of iNaCoMM 2017
A2 - Badodkar, D.N.
A2 - Dwarakanath, T.A.
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd International and 18th National Conference on Machines and Mechanisms, iNaCoMM 2017
Y2 - 13 December 2017 through 15 December 2017
ER -