Title :
Development of slider-crank based pole climbing robot
Author :
Lau, S.C. ; Othman, W.A.F.W. ; Bakar, E.A.
Author_Institution :
Sch. of Electr. & Electron. Eng., Univ. Sains Malaysia, Nibong Tebal, Malaysia
fDate :
Nov. 29 2013-Dec. 1 2013
Abstract :
In this paper, a slider-crank based pole climbing robot will be discussed. The robot is designed to climb a pole of perimeter 35cm upward and downward, and its weight is limited to 3kg. It utilizes the combination of slider-crank mechanism for its climbing module and modular mechanism for its gripping module. In this work, the overall climbing motion can be completed in 6 steps. The benefits of this robot are low cost, simple mechanism, easy to control and fabricate. The robot has been built and successfully tested on a PVC tube of diameter 35cm. The average upward and downward climbing speed of the developed robot is 0.375cm/s and 0377cm/s respectively.
Keywords :
control system synthesis; grippers; mobile robots; PVC tube; climbing motion; gripping module; modular mechanism; robot design; size 35 mm; slider-crank based pole climbing robot; Climbing robots; DC motors; Grippers; Servomotors;
Conference_Titel :
Control System, Computing and Engineering (ICCSCE), 2013 IEEE International Conference on
Conference_Location :
Mindeb
Print_ISBN :
978-1-4799-1506-4
DOI :
10.1109/ICCSCE.2013.6720011
