M.A.K. Jaradat, S.M. Ashour, A.A. Matalkh, M.M. Elayyan, and A.M. Hammadneh
Climbing robot, service robot application
In this paper a portable lightweight climbing robot for smooth sloping surface is proposed which can highly be deployed for service applications such as maintenance and cleaning. The robot is developed as a flexible sliding frames mobile platform with hybrid actuating mechanism, pneumatic components, and suction cup grippers to provide the required movement in three dimensional environments. The proposed design mimics the biological natural climbing skills for inchworms. This design insures the lightweight, low centre of gravity, and stability constraints. The developed climbing robot prototype has three degrees of freedom. It is 44 cm wide, 54 cm long, 20 cm height, and about 10.5 kg weight. The paper introduces the GCAR robot design, construction, climbing and task operating mechanisms or kinematics, controller part, and testing.
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