{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,26]],"date-time":"2026-08-26T15:55:34Z","timestamp":1787759734017,"version":"build-2784847793"},"reference-count":28,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2018,1,25]],"date-time":"2018-01-25T00:00:00Z","timestamp":1516838400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,4,9]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to describe the design and development of \u201cPylon-Climber II\u201d, a 5-DOF biped climbing robot (degree of freedom \u2013 DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-08-2017-0143","type":"journal-article","created":{"date-parts":[[2018,1,25]],"date-time":"2018-01-25T05:08:19Z","timestamp":1516856899000},"page":"206-219","source":"Crossref","is-referenced-by-count":20,"title":["Design and analysis of a climbing robot for pylon 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