Research of climbing tower robot based on under actuated gripper

The design of climbing tower robot is mainly consisted of two parts, including structure and control system. The mechanical structure is composed of two under actuated gripper and a linear moving body. Based on the tower environment, the structure of gripper is designed. Further analyzing the stress of climbing gripper and optimizing the structure, the climbing gripper based on under actuated gripper is developed. The control system includes a control box and the robot body, the two communicate via WIFI. Finally the testing is doing in the condition of tower. The experimental results show that the design principle of the prototype is reasonable, and the structure of gripper is feasible and the control system is simple and easy to operate.