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A climbing parallel robot

Abstract:

The aim of this study is to inform the scientific community of the applications that can be obtained from parallel robots for climbing. Exploration of the most important aspects of the mechanical design and control of climbing parallel robots (CPRs) based on the S-G platform for tasks in tubular or metallic structures is presented. The use of parallel robots in the development of new-generation computer numeric control (CNC) machining center tools brought about new advances for the machining industry. The CNC machining center tools are based on a parallel mechanism that allows up to six degrees of freedom (6 DOF), which is impossible to obtain with a conventional tool. Topics discussed include comparative analysis between CPR and serial robots, morphology of robots for climbing tubes, development of a pneumatic robot for climbing palm trees, algorithms for CPR in tubular structures, parallel robots for climbing metallic structures, sequences of climbing in a structural metallic frame and the development of an experimental robot for climbing structures.