Design and Development of Components for a Jumping-Type Dynamic Climbing Robot

Climbing robots have great potential to be used in a variety of applications such as the inspection of vertical structures and exploration of microgravity environments, yet there are challenges facing climbing robots that limit their general utility. Existing designs for climbing robots tend to climb at speeds unacceptable for time-sensitive applications and struggle to overcome discontinuous climbing terrain. Dynamic climbing robots, a sub-category of climbing robots, have the potential to address these issues. The purpose of this research is to begin the development of a dynamic climbing system that can overcome discontinuous terrain and traverse quickly by jumping between climbing holds. The primary component developed was a robotic arm featuring a locust-inspired power amplification mechanism. A simplified model of the power-amplification mechanism found in locusts was analyzed and used to design the robotic limb. Additionally, a compliant micro-spine gripper was designed as a potential end-effector for a dynamic climbing robot. Prototypes of these components were constructed for future testing and validation. The resulting components show promise for use in a dynamic climbing robot with further development.