DESIGN ROPE CLIMBING ROBOT USING FOUR BAR MECHANISM

Abstract

The paper proposes a kinematic calculating and analyzing method for robots moving on a wire using a four-bar mechanism. By using analytical methods, the kinematic model of robot is included to examine parameters such as leg tilt, average moving velocity, position and trajectory of robot’s leg. Based on the calculated results, suitable size parameters are proposed to ensure the stable and balanced movement of the structure. The power required for the engine is also determined by using a principle of virtual displacement that ensures a uniform movement of the robot. Calculation results are used to design the actual model to evaluate the robot's ability to work.