Shady: Robust truss climbing with mechanical compliances

Abstract

Many large terrestrial structures-towers, bridges, construction scaffolds are sparse assemblies of rigid bars connected together at structural nodes. This is also true of many in-space structures such as antennae, solar panel supports, and space-station members. A long-term application of truss climbing robots is automated assembly, repair, and inspection of such truss-like structures: one or more climbing robots could grip the bars and locomote about the truss, conveying sensors, tools, or construction materials. The robot could then either carry out the desired task on its own or cooperate with a human [1,7]. © 2008 Springer-Verlag Berlin Heidelberg.