A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications

Abstract

PurposeAims to describe design, prototyping and characteristics of a pole climbing/manipulating robot with ability of passing bends and branches of the pole.Design/methodology/approachIntroducing a hybrid (parallel/serial) four degree of freedom (DOF) mechanism as the main part of the robot and also introduces a unique gripper design for pole climbing robots.FindingsFinds that a robot, with the ability of climbing and manipulating on poles with bends and branches, needs at least 4 DOFs. Also an electrical cylinder is a good option for climbing robots and has some advantages over pneumatic or hydraulic cylinders.Research limitations/implicationsThe robot is semi‐industrial size. Design and manufacturing of an industrial size robot are a good suggestion for future works.Practical implicationsWith some changes on the gripper module and the last tool module, the robot is able to do some service works like pipe testing, pipe/pole cleaning, light bulb changing in highways etc.Originality/valueDesign and manufacturing of a pole‐climbing and manipulating robot with minimum DOFs for construction and service works.