%0 Journal Article
	%A Maziar Sadeghi and  Amir Moradi
	%D 2008
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 17, 2008
	%T Design and Fabrication of a Column-Climber Robot (Koala Robot)
	%U https://publications.waset.org/pdf/3759
	%V 17
	%X This paper proposes a robot able to climb Columns.
This robot is not dependent on the diameter and material of the
columns. Some climbing robots have been designed up to now but
Koala robot was designed and fabricated for climbing columns
exclusively. Simple kinematics of climbing in the nature inspired us
to design this robot. We used two linear mechanisms to grip the
column. The gripper consists of a DC motor and a power screw
mechanism with a linear bushing as a guide. This mechanism
provides enough force to grip the column. In addition we needed an
actuator for climbing the column; hence, two pneumatic jacks were
used. All the mechanical parts were designed according to the
exerted forces and operational condition. The prototype can be
simply installed and controlled on the column by an inexperienced
operator. This robot is intended for inspection and surveillance of
pipes in oil industries and power poles in electric industries.
	%P 656 - 661