Design and Fabrication of a Column-Climber Robot (Koala Robot)
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.
[1] R.T. Pack, J.L. Christopher, and K. Kawamura, "A Rubber actuator-
Based Structure-Climbing Inspection Robot", Proceedings of the IEEE
International Conference on Robotics and Automation, 1997, pp. 1869-
1874.
[2] A. Nagakubo and S.Hirose, "Walking and running of the quadruped
wall-climbing robot", Proceedings of the IEEE International Conference
on Robotics and Automation, 1994, pp. 1005-1012.
[3] H.R. Choi, S.M. Ryew, T.H. Kang, J.H. Lee, and H.M. Kim, "A wall
climbing robot with closed link mechanism", Proc. Of the Intelligent
Robotic Systems Conference, 2000, pp. 2006-2011, vol. 3.
[4] L. Shuliang, Z. Yanzheng, G. Xueshan, X. Dianguo, and W. Yan, "A
wall climbing robot with magnetic crawlers for sand-blasting. Spray-
Painting and Measurement", High Technology Letters, 2000, pp 86-88,
vol. 10.
[5] C. Menon, M. Murphy, and M. Sitti, "Gecko Inspired Surface Climbing
Robots", IEEE International Conference on Robotics and Biomimetics
(ROBIO), Shenyang, China, 2004.
[6] DT Pham, and Wilfred B. Heginbotham, "Robot Grippers", 1986.
[7] J.E.Shigley, C.R.Mischke, "Mechanical Engineering Design", New
York: McGraw-Hill, 2007.
[8] DIN 616, 1993
[9] DIN 103,1977
[10] Andrew Parr,. "Hydraulics and Pneumatics", Butterworth- Heinemann ,
1999.
[1] R.T. Pack, J.L. Christopher, and K. Kawamura, "A Rubber actuator-
Based Structure-Climbing Inspection Robot", Proceedings of the IEEE
International Conference on Robotics and Automation, 1997, pp. 1869-
1874.
[2] A. Nagakubo and S.Hirose, "Walking and running of the quadruped
wall-climbing robot", Proceedings of the IEEE International Conference
on Robotics and Automation, 1994, pp. 1005-1012.
[3] H.R. Choi, S.M. Ryew, T.H. Kang, J.H. Lee, and H.M. Kim, "A wall
climbing robot with closed link mechanism", Proc. Of the Intelligent
Robotic Systems Conference, 2000, pp. 2006-2011, vol. 3.
[4] L. Shuliang, Z. Yanzheng, G. Xueshan, X. Dianguo, and W. Yan, "A
wall climbing robot with magnetic crawlers for sand-blasting. Spray-
Painting and Measurement", High Technology Letters, 2000, pp 86-88,
vol. 10.
[5] C. Menon, M. Murphy, and M. Sitti, "Gecko Inspired Surface Climbing
Robots", IEEE International Conference on Robotics and Biomimetics
(ROBIO), Shenyang, China, 2004.
[6] DT Pham, and Wilfred B. Heginbotham, "Robot Grippers", 1986.
[7] J.E.Shigley, C.R.Mischke, "Mechanical Engineering Design", New
York: McGraw-Hill, 2007.
[8] DIN 616, 1993
[9] DIN 103,1977
[10] Andrew Parr,. "Hydraulics and Pneumatics", Butterworth- Heinemann ,
1999.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:52871", author = "Maziar Sadeghi and Amir Moradi", title = "Design and Fabrication of a Column-Climber Robot (Koala Robot)", 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.", volume = "2", number = "5", pages = "616-6", }