Computer-Aided-Design of a Climbing Robot for Harsh Environment

Abstract This paper presents a 3D graphic simulator for robot design (SIDIREST) that seeks to facilitate the stages of conceptual design and preliminary design of a climbing robot intended for use in harsh environment. SIDIREST use the kinematic and dynamic equations of the robot and make easy the search of the optimal configuration of the robot and its way of climbing. A second part of this work shows a design example of a climbing robot with magnetic feet. The disposition of the legs, their longitude, the joint torque, the power of the motors, etc , are evaluated in order to determine the optimal configuration of the robot.