How to make a Robot which can walk on irregular surface

             

                                                           


Two more pin joints and links are added to the ends of the backbone, (Fig. 4). The new links are now constrained to move along a straight line or a fixed path which approximates the rope to be climbed (Frame). At any given instant, link 4 is fixed while link 5 slides along the fixed path or vice versa. The whole mechanism now is a four bar linkage, powered at the center. Links 4 and 5 are important as they act as sliders, whereas links 2 and 3 act as cranks. Links 4 and 5 also provide the base on which the entire gripping mechanism is to be mounted. Even if the backbone, without links 4 and 5, is complete, they are added to the backbone for reasons detailed above. Link 5 Link 1 Link 2 Link 3 Link 4 Fig. 4 Four bar mechanism (backbone) 2.2 Design of Grippers The design of the gripper is an essential part of the rope climbing robot. During the vertical climb, the gripper has to bear the entire weight of the robot and the payload. This, is the main consideration for the design of the gripper. The gripping mechanism can be approximated by another four-bar mechanism. This mechanism is to be attached to links 4 and 5 of the backbone. Link 3 Link 4 Link 2 Link 1 Fig. 5 Gripping mechanism The four links, shown in fig. 5, are joined together by pin joints. The mechanism can be powered by means of two pulleys. A motor is attached to the smaller pulley and through a transmission belt the rotation is conveyed to a bigger pulley. The larger pulley is attached to the four bar mechanism, when it rotates, it causes link 3 to clamp or unclamp the rope held