Articles | Volume 15, issue 1
Research article
23 Jan 2024
Research article |  | 23 Jan 2024

Design and analysis of a dual-rope crawler rope-climbing robot

Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, and Juan Huang

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Cited articles

Alhassan, A. B., Zhang, X., Shen, H., Jian, G., Xu, H., and Hamza, K. K.: Investigation of Aerodynamic Stability of a Lightweight Dual-Arm Power Transmission Line Inspection Robot under the Influence of Wind, Math. Probl. Eng., 2019, 2139462,, 2019. 
Boufares, F., Doudech, I., and Bahrami, M. R.: Electrical Transmission Lines Robot Inspector: Design Challenges, 2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM), 746–754,, 2022. 
Cai, J., Huang, L., Wu, H. C., and Yin, L.: Concurrent topology optimization of multiscale structure under uncertain dynamic loads, Int. J. Mech. Sci., 251, 108355,, 2023. 
Chao, C., Mei, X., Wei, Y., and Fang, L.: A balanced walking-clamp mechanism for inspection robot of transmission line, Ind. Robot., 50, 673–685,, 2023. 
Chen, M., Cao, Y., Tian, Y., Li, E., Liang, Z., and Tan, M.: A Passive Compliance Obstacle-Crossing Robot for Power Line Inspection and Maintenance, IEEE Rob. Autom. Lett., 8, 2772–2779,, 2023. 
Short summary
A rope-climbing robot (RCR) can reciprocate on a rope. To address poor load capacity and adaptability, this study designs a dual-rope crawler type RCR for use as a new type of transportation equipment in hilly, mountainous, and plateau areas. The crawler rope-climbing mechanism is a combination of a chain drive and the rope-climbing foot. With overhead rope parabolic theory to kinematically analyze the RCR system, the robot motion trajectory model and tilt angle equation are established.