머니퓰레이터를 장착한 무선통신 나선형 기둥등반로봇

This paper presents a column-climbing robot with a mechanical manipulator, which can spirally go up and down a column using wheels. The developed robot can do useful works using the manipulator at the top of a column, e.g., electric pole while communicating wirelessly with an operator panel. It is driven using a battery without any power cables, and the average duration of power is at least one hour. The robot has a function to detect a work object using an optical sensor installed at the bottom of the manipulator. The spirally column-climbing robot developed is demonstrated by experimental works and also by showing it at an exhibition.