SkySweeper: A low DOF, dynamic high wire robot

SkySweeper is a mobile robot designed to operate in an environment of cables, wires, power lines, ropes, et cetera. The robot is comprised of two links pivotally connected at one end; a series elastic actuator at this “elbow” joint can actuate relative rotation between the two links. At the opposite end of each link is an actuated three-position clamp. The clamp can either be open, partially closed, such that the clamp can roll (translate) along the cable, or fully closed, such that the clamp can only pivot on the cable. By actuating the elbow joint and cleverly choosing the positions of the clamps, the robot can locomote on the cable in a number of different ways. The particular method of locomotion can be chosen to minimize energy consumption, maximize speed, or traverse an obstacle (e.g. a support from which the cable is suspended). SkySweeper has the potential to locomote in a more energy efficient manner than existing cable-locomoting robots. It also operates with a minimal number of actuators, which reduces cost significantly. Potential applications include power and communication line inspection, suspension bridge inspection and construction, as well as entertainment. Data from a prototype, consisting largely of 3D-printed and off-the-shelf parts, are compared to dynamic simulation results.