Parallel Climbing Robots for Construction, Inspection and Maintenance

摘要

In this paper we propose the use of parallel platforms as climbing robots considering the big load capacity that this structures have and their ability to progress on the workspace. In the first part we suggest a theoretical framework where dynamics and kinematics relationships that characterize these robotics structures are defined for their applications as climbing robots. Furthermore we propose several mechanical architectures for parallel climbing robots, like robots for bridge or building structures. Finally we describe a parallel robot architecture that nowadays is being developed for the maintenance of post, cables or palm trees.