DocumentCode
677238
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
fYear
2013
fDate
Nov. 29 2013-Dec. 1 2013
Firstpage
471
Lastpage
476
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control System, Computing and Engineering (ICCSCE), 2013 IEEE International Conference on
Conference_Location
Mindeb
Print_ISBN
978-1-4799-1506-4
Type
conf
DOI
10.1109/ICCSCE.2013.6720011
Filename
6720011
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