Pole Climbing Robot

 

 
 

“Pole Climbing Robot” project has been started in Jan. 2003 in PCR laboratory in Sharif University of Technology. Design, Modeling, Kinematics Analysis, Optimization, Dynamic Analysis and prototyping of this robot has been accomplished up to know. Now the group is working on optimization of control algorithms. The robot is able to climb over poles with sharp diameter changes and poles with branches, and continue its movement along branches. In addition, the manipulator of this robot is designed to accomplish light bulb changing of spotlight poles on highways. One can design a manipulator for other applications such as testing applications or welding applications.

 Download Simulation

 
  Publications:

M.R. Zakerzadeh, G.R Vossoughi, S. Bagheri, M. Tavakoli, “Kinematic Analysis of a New 4-DOF Hybrid Pole Climbing Manipulator”, 12th Mediterranean conference on control and automation MED'04, 6-9 June 2004,Turkey.

G.R Vossoughi, S. Bagheri, M. Tavakoli, M.R. Zakerzadeh, M. Houseinzadeh, “Design, Modeling and Kinematics Analysis of a Novel Serial/Parallel Pole Climbing and Manipulating Robot”, 7th Biennial ASME Engineering Systems Design and Analysis, Manchester, UK July 19-22, 2004

M. Tavakoli, M.R. Zakerzadeh, G.R. Vossoughi, S. Bagheri, “Design, Modeling and Prototyping of a Serial/Parallel Pole Climbing and Manipulating Robot with Minimum DOFs for Construction Works”, 7th international on climbing and walking robots and the support technology for mobile machines, Madrid, September 2004

M.R. Zakerzadeh, M. Tavakoli, G.R. Vossoughi, S. Bagheri, “Inverse Kinematic/Dynamic Analysis of a New 4-DOF Hybrid (Serial-Parallel) Pole Climbing Robot Manipulator”, 7th international on climbing and walking robots and the support technology for mobile machines, Madrid, September 2004

M. Tavakoli, M.R. Zakerzadeh, G.R. Vossoughi, S. Bagheri, H.Salarieh, “A Novel Serial/Parallel Pole Climbing/Manipulating Robot: Design, Kinematic Analysis and Workspace Optimization with Genetic Algorithm”, 21st International Symposium on Automation and Robotics in Construction, 21 to 25 September 2004, Jeju island, Korea