Design and analysis of small pole-climbing robot

This paper designs and makes a small pole-climbing robot, which is able to realize the self-locking in the process of climbing. The mechanical stress analysis of the robot is carried out and the mathematical model of the pole-climbing system is established. The simulation is made by Matlab/simulink. The reliability of the robot has been validated by test. On the basis of simulation, the movement of robot is controlled by PID controller embedded in Arduino board and the test of multiple climbing rods is carried out. The experimental test results show that the robot achieves the precision requirement in the established action, which provides a new method for the design of the pole-climbing robot.