Analysis of a climbing parallel robot for construction applications

Abstract

In this article, a parallel structure capable of climbing metal structures is presented. Critical configurations of the designed robot to overcome structural nodes are analyzed. Considering its high load capacity and geometrical dexterity, the system is appropriate for maintenance, building construction, and cleaning of large and dangerous structures. The designed climbing parallel robot (CPR) has a new kinematics structure for this kind of application based on a Stewart 6-6 platform. The aim of this article is to show the kinematics and dynamics behavioral study of the CPR when used in different structures in construction sites. A series of configurations have been evaluated to simplify robot movement and displacement around corner positions of rectangular structures and beams as required in the construction framework. © 2004 Computer-Aided Civil and Infrastructure Engineering.