SpiderBot: A cable-suspended walking robot

A. Capua; A. Shapiro; S. Shoval

doi:10.1016/j.mechmachtheory.2014.07.007

SpiderBot: A cable-suspended walking robot

A. Capua, A. Shapiro, S. Shoval

Ben-Gurion University of the Negev, Ariel University

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents a novel concept of a mobile cable-suspended robot called SpiderBot. The robot consists of four cable-mechanisms and a central body. Each cable-mechanism includes a cable, a dispensing and rolling mechanism, and a gripper at the end of the cable. The robot shoots an arrow-like grasping mechanism towards possible grasping points. The grasping mechanism is attached to the distal end of the cable. Then it pulls the cables simultaneously in a coordinated manner, hence the robot can perform controlled motion of the central body. Depending on the locations of the grasping points and the coordinated pulling, the robot can perform motion around and over obstacles. In this paper the design, kinematics, statics, motion planning, simulation results and experiments that were conducted are presented using our SpiderBot prototype.

Original language	American English
Pages (from-to)	56-70
Number of pages	15
Journal	Mechanism and Machine Theory
Volume	82
DOIs	https://doi.org/10.1016/j.mechmachtheory.2014.07.007
State	Published - 1 Jan 2014

Keywords

Cable-suspended robot
Motion planning
Underconstrained mechanism

All Science Journal Classification (ASJC) codes

Bioengineering
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

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10.1016/j.mechmachtheory.2014.07.007

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title = "SpiderBot: A cable-suspended walking robot",

abstract = "This paper presents a novel concept of a mobile cable-suspended robot called SpiderBot. The robot consists of four cable-mechanisms and a central body. Each cable-mechanism includes a cable, a dispensing and rolling mechanism, and a gripper at the end of the cable. The robot shoots an arrow-like grasping mechanism towards possible grasping points. The grasping mechanism is attached to the distal end of the cable. Then it pulls the cables simultaneously in a coordinated manner, hence the robot can perform controlled motion of the central body. Depending on the locations of the grasping points and the coordinated pulling, the robot can perform motion around and over obstacles. In this paper the design, kinematics, statics, motion planning, simulation results and experiments that were conducted are presented using our SpiderBot prototype.",

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AB - This paper presents a novel concept of a mobile cable-suspended robot called SpiderBot. The robot consists of four cable-mechanisms and a central body. Each cable-mechanism includes a cable, a dispensing and rolling mechanism, and a gripper at the end of the cable. The robot shoots an arrow-like grasping mechanism towards possible grasping points. The grasping mechanism is attached to the distal end of the cable. Then it pulls the cables simultaneously in a coordinated manner, hence the robot can perform controlled motion of the central body. Depending on the locations of the grasping points and the coordinated pulling, the robot can perform motion around and over obstacles. In this paper the design, kinematics, statics, motion planning, simulation results and experiments that were conducted are presented using our SpiderBot prototype.

KW - Cable-suspended robot

KW - Motion planning

KW - Underconstrained mechanism

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JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

ER -

SpiderBot: A cable-suspended walking robot

Abstract

Keywords

All Science Journal Classification (ASJC) codes

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