Design of a climbing robot for cylindro-conic poles based on rolling self-locking

This work is about designing Pobot V2, a robot capable to climb poles with a cylindrical or conical shape. It is original because of its rolling self-locking concept: rolling allows continuous ascension whereas self-locking guarantees a null energy consumption while staying still on the pole. The robot is also capable to avoid tangential obstacles, to cross small collars and to regulate passively its normal contact force on conical poles with a diameter that evolves from 300 to 100 mm. The concept is validated by experiments.