Robotic Climbing of Ladder Civil Infrastructure

This research explores the mechanism feasibility of the ladder climbing process with one motor driving, and redundant mechanism coordination in ladder-climbing will be researched, which will benefit the research in transmission tower inspection and maintenance methods.Hoeken Straight mechanism is selected as the current adhesion mechanism due to its structure and trajectory characteristics.Since each independent module of this robot is driven by a single motor, the structure will be much simpler than the previous climbing robot.With the help of redundant adhesion mechanisms, the robot will have a high degree of fault tolerance, increasing climbing efficiency and reducing the possibility of falling.The result will benefit the climbing robot development, which will provide a theoretical basis for the robot to replace ladder or lattice inspection and maintenance by the workforce in the future.