Design of a Double Claw Pole-Climbing Robot

Aiming at the problem of human safety and work efficiency in high altitude complex environment, a rod-climbing robot system based on double-claw structure is proposed in this paper to realize real-time and reliable detection of rod-shaped objects. With seven movable joints and seven degrees of freedom, the robot system can flexibly complete tasks such as obstacle crossing, rotation and climbing. Through the establishment of the mechanical model of the robot system, the kinematics formula is derived, and the gait analysis and theoretical verification are carried out, which further proves the feasibility of the double claw pole-climbing robot system. Using high-strength alloy and servo motor, the prototype of the robot system is constructed. And the climbing experiment is carried out on the surface of the pole. The experimental results show that the structure and scheme of the robot system are feasible.