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CGPCRobot: pole climbing robot with controlled gripper mechanism

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Abstract

This paper presents the design and implementation of a lightweight Pole Climbing Robot (PCR) featuring a controlled gripper mechanism. The robot boasts dimensions of \(200 \times 150 \times 500\) and demonstrates exceptional versatility by adeptly ascending cylindrical and rectangular poles within the diameter range of 40–130 mm. The specially engineered gripper accommodates a broad spectrum of pole cross-sections, including those with irregular shapes. Operating at an average speed of 100 cm/min, the robot weighs approximately 1.1 Kg and exhibits lifting capacities of 0.36 Kg on steel poles and 0.6 Kg on wooden poles. The practical applications of this robot are evident in scenarios necessitating swift climbing maneuvers. Notably, the robot’s movements are wirelessly controllable via mobile devices. The paramount objective of this research is to mitigate the risks associated with manual pole climbing activities, particularly in professions such as electrical maintenance where workers, including electricians, face inherent dangers while ascending utility poles to ensure consistent electricity supply to connected households or, in the case of agricultural contexts, climbing trees like coconut trees.

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Abbreviations

f :

Force due to friction

N :

Normal force

F :

Force

\(\tau \) :

Torque of gripper motor

M :

Mass of payload

m :

Mass of robot

\(\mu \) :

Friction coefficient

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Authors and Affiliations

  1. Department of Electronics Engineering, Shri Ramdeobaba College of Engineering and Management, Ramdeotekdi, Gittikhadan, Katol Road, Nagpur, 440013, India

    Aditya Dwivedi, Danish Siddiqui, Pratik Yeotkar & Richa Khandelwal

Authors
  1. Aditya Dwivedi
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  2. Danish Siddiqui
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  3. Pratik Yeotkar
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  4. Richa Khandelwal
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Correspondence to Richa Khandelwal.

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Dwivedi, A., Siddiqui, D., Yeotkar, P. et al. CGPCRobot: pole climbing robot with controlled gripper mechanism. Sādhanā 49, 73 (2024). https://doi.org/10.1007/s12046-023-02424-5

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  • DOI: https://doi.org/10.1007/s12046-023-02424-5

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