Abstract:

A climbing robot with a hybrid moving mechanism for complicated surface such as ellipse is proposed. The robot has two sets of moving mechanisms being independent each other, one for scrambling along the longitude, and the other for moving along the latitude of the surface. The principle of the latitude moving mechanism with a wheelrail driving is presented. The latitude motion of the robot constrained by complex geometric condition is analyzed by combing the geometric constraint characteristic and method of DH.

Key words: climbing , robot,  ,  , latitude , moving , mechanism,  ,  , wheel , rail , drive,  ,  , complicated , surface