SpiderBot: a cable suspended walking robot
SpiderBot is a cable suspended mobile robot that emulates Spider-Man. SpiderBot climbs walls and hangs from ceilings by shooting tethered plungers onto the surface. Removing the plungers, it reels in the web, aims, and repeats the process to climb farther. SpiderBot, which gets around in much the same way as the Man, was inspired by the fictional character Spider-Man. The robot can be used for carrying equipment and sensors over a disaster area to assist the rescue forces. It can maneuver and serve as a moving platform inside congested building without taking floor space. The robot can also move between floating vessels in sea and serve as a moving crane.
All cable suspended robots (CSRs) that were developed so far use stationary clinging points. Cable suspended robots can be divided into three types. First, are the fully constrained robots in which by controlling the cables length their position and orientation is determined and fixed. For a cable suspended robot to be fully constrained it must have at least seven cables. Example of such robot is: . Second, are the underconstrained CSRs in which the cables do not fully constrain the robot’s configuration, and under the effect of external force they can move. Usually the external force is gravity, and the robot tends to reach the equilibrium where its potential energy is minimal. The number of cables for underconstrained CSRs is usually six or less. The third type of CSRs are point mass, where all the cables intersect at a single point where the robot is suspended underneath this point.