Advice needed in building robot

Hi
I wonder if anyone has any ideas or advice about building a pole-climbing robot. I'm doing some research for my MSc and have very
little experience in robot building. The requirements are listed below:
Essential Objectives Device must be capable of ascending and descending a standard 12 m octagonal lamp post five times from a start position of 1.70 m above ground level. Device must carry a miniature digital camera (18gm approx and around 2cm cubed) capable of wireless communication. Device should have the capability to carry alternative loads of varying dimensions and mass. Device must be self contained and capable of semi-autonomous operation or remote control operation. Device must have excellent stability to enable quality recording of visual images of the structure. Must have capability to record visuals around a 360 degree panorama. Must be able to manoeuvre around the structure in order to record visuals of the full construction. Device must be easy to transport (maximum 2 kg) Desirable Objectives
Device should be capable of fully autonomous operation. Device should be easy to use for an un-skilled operator. Device should be flexible in design to allow functioning on pole structures of alternative terrain, dimension and cross-section. Device should be aerodynamic and visually appealing.
I have been researching a good deal about past projects along this vein, however would greatly appreciate any details you may have about similar projects and would be grateful if anyone could give any opinions and advice on designs I am coming up with. At the moment I am still toying with design concepts for rubber wheeled systems, for rubber tracked systems, for utilising magnets (as most but not all of the pole surfaces it will be used on will be metal), or otherwise using the grasping climbing motion. There is only so much that can be got out of books, so any help would be very welcome.
Regards,
Jane Cheung MSc Design Engineering Middlesex University UK.
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snipped-for-privacy@googlemail.com wrote:

An interesting project. Some comments, based on absolutely no relevant experience :-
Rubber wheels are good, anything more complex is not worth the effort. The drive needs to be designed in such a way that as it slips down the pole it tightens its grip. You probably also need a 'no power' parking capability - if you need power on to just stand still then you will use a lot of juice
You will need to watch component weights very carefully to keep within a 2 kg mass limit
Otherwise, have fun !
Dave
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Perhaps two 'bands' that encircle the pole. To climb, tighten the lower band, loosen the upper band, raise the upper band on a threaded linear accuator. Then tighten the upper band, loosen the lower band, and finally pull the robot up by the upper band. The bands can have a rail that the robot can use to change position on the pole. This would be simple to implement, secure, but slow.
Mark
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    --FWIW for a while there was a rope climbing contest in the UK; a show was made of it and it appeared briefly on US tv. Forgot the name of the show but a little googling might turn up references. IIRC the evolution of rope climbers was rapid and went from non-starters to something that could move about 40ft/sec in maybe a year; very neat!
--
"Steamboat Ed" Haas : Proud to be the
Hacking the Trailing Edge! : family crackpot!
  Click to see the full signature.
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Technogames?
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    --Yeah; that's it! Great fun it was; wish it was still going on. Well maybe it is, but we don't hear about it in the USA: too many scandals I guess. :-(
--
"Steamboat Ed" Haas : Proud to be the
Hacking the Trailing Edge! : family crackpot!
  Click to see the full signature.
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snipped-for-privacy@googlemail.com wrote:

I made a pole climber for a competition in uni; it was sort of autonomous, all it had to do was start 3m from the base of the pole (80mm round steel), go to the pole, attach to the pole, climb 2m, stop and deploy a ramp to a platform...in as close as possible to 30sec.
I came second 'cos it was too heavy; 1.4 kg, but it was made out of wood and I didn't make much attempt to optimise it. They still trot it out at open day!
The climbing mechanism was; 2 uprights supporting an upper & lower roller 15mm diameter mounted about 150mm apart, a rigid plate between the rollers with ex hard drive magnets on it.
Like a vertical roller skate with magnets in the middle of the foot.
In ASCI art;
          |          |---upper roller          | toothed belt     | plate with magnets          | between rollers         | |         |--|---bottom roller bevel gear    | |      -----      |      |      | motor
The magnets held onto the pole quite well...parking was not a problem, just stop the motor...toothed belt between rollers, belt drive to road wheels, cheapo battery drill motor & battery, gears & belts from remote controlled car shop.
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Fulliautomatix wrote:
I see the ASCII art did not survive very well!
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On Thu, 26 Oct 2006 22:30:34 +1000, Fulliautomatix wrote:

Set your newsreader to "fixed-width font" - typically courier.
Cheers! Rich
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snipped-for-privacy@googlemail.com wrote:

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snipped-for-privacy@googlemail.com wrote:

hi in your project the main point which is i seen is that the breaking sys in case of reversing downwards in climbing ope. from my point of view u most focuse on breaking for these u use sys which is used in lifts in case of lifts go down they will use. u will use the sticky rubber breaks for grasping the pole in other things some friends are described like rubber wheels for climbing, it is good because u mentioned that u r instrument should not more than 2kg and i also agree with that instead of using magnets but reminds u that for sufficient grasping u have to measure the pressure acted on pole by wheels because if there is no sufficient pressure bet. surface and wheels the instrument will not climb.here u not defined pole dia. so i assume it is vary so i suggest this u use rubber bend or other elastic item. i have no scanner otherwise i sent the design. i will describe u some little u use four wheels in square pattern(90 degree) in which all wheels are rolled and connected to the four mini size servo motors all worked in forward or backward direction in same time. and in the end for design the thing is in round shape i think so because u can create more pressure with rubber bend and remind u that u cover ur robot with light weight plastic not use wood
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