{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,13]],"date-time":"2026-07-13T20:03:12Z","timestamp":1783972992039,"version":"3.55.0"},"reference-count":23,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2024,3,20]],"date-time":"2024-03-20T00:00:00Z","timestamp":1710892800000},"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":[[2024,5,9]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1\u2009kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543\u2009mm, which can achieve the crossing of angle steel obstacles.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2023-0277","type":"journal-article","created":{"date-parts":[[2024,3,19]],"date-time":"2024-03-19T02:40:51Z","timestamp":1710816051000},"page":"455-464","source":"Crossref","is-referenced-by-count":4,"title":["Design and experiment of transmission tower climbing robot inspired by inchworm"],"prefix":"10.1108","volume":"51","author":[{"given":"Shufeng","family":"Tang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongsheng","family":"Kou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guoqing","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huijie","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hong","family":"Chang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuewei","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunhe","family":"Zou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2024,3,20]]},"reference":[{"key":"key2024050812002130200_ref001","first-page":"1262","article-title":"Visual navigation based on deep semantic cues for real-time autonomous power line inspection","year":"2023"},{"issue":"8","key":"key2024050812002130200_ref002","first-page":"62","article-title":"Structure design and performance analysis of a novel pole-climbing robot","volume":"41","year":"2017","journal-title":"Journal of Mechanical Transmission"},{"issue":"3","key":"key2024050812002130200_ref003","first-page":"509","article-title":"Research on angle steel tower climbing robot system based on digital twin","volume":"29","year":"2022","journal-title":"Control Engineering of China"},{"issue":"4","key":"key2024050812002130200_ref004","first-page":"635","article-title":"Dynamic simulation of the pole climbing robot with inchworm locomoting gait","volume":"31","year":"2009","journal-title":"Word Sci-Tech R and D"},{"issue":"12","key":"key2024050812002130200_ref005","first-page":"1870","article-title":"Moving model of modular soft robot","volume":"47","year":"2013","journal-title":"Journal of Shanghai Jiao Tong University"},{"issue":"1","key":"key2024050812002130200_ref006","first-page":"101","article-title":"Design and analysis of wheel-footed wind-turbine wall-climbing robots","volume":"41","year":"2023","journal-title":"Journal of Machine Design"},{"issue":"14","key":"key2024050812002130200_ref007","first-page":"1659","article-title":"Design and adsorption performance optimization of non - contact variable magnetic gap type permanent magnet absorption mechanisms of pipe climbing robots","volume":"32","year":"2021","journal-title":"China Mechanical Engineering"},{"issue":"8","key":"key2024050812002130200_ref008","first-page":"106","article-title":"Electromagnetic adsorption technology of ship","volume":"44","year":"2022","journal-title":"Wall Climbing Robot Ship Engineering"},{"issue":"9","key":"key2024050812002130200_ref009","first-page":"323","article-title":"Variable impedance control of hook-and-spike variant mechanism of climbing robot","volume":"43","year":"2022","journal-title":"Journal of Ordnance Equipment Engineering"},{"issue":"8","key":"key2024050812002130200_ref010","first-page":"1936","article-title":"Motion planning and simulation of climbing robot for power plant pipeline","volume":"49","year":"2018","journal-title":"Journal of Central South University of Science and Technology"},{"issue":"5","key":"key2024050812002130200_ref011","first-page":"7","article-title":"Kinematics and singularity analysis of an electricity pylon climbing robot","volume":"33","year":"2016","journal-title":"Journal of Machine Design"},{"issue":"10","key":"key2024050812002130200_ref012","first-page":"1483","article-title":"Designing and optimizing clamping mechanism of pipe climbing robot","volume":"40","year":"2022","journal-title":"Mechanical Science and Technology for Aerospace Engineering"},{"issue":"10","key":"key2024050812002130200_ref013","first-page":"1837","article-title":"Optimization design and experimental research on magnetic components for wall-climbing robot","volume":"52","year":"2018","journal-title":"Journal of Zhejiang University. Engineering Science"},{"issue":"8","key":"key2024050812002130200_ref014","first-page":"271","article-title":"Research on vibration characteristics and stability of climbing robot with flexible adsorption material","volume":"43","year":"2022","journal-title":"Chinese Journal of Scientific Instrument"},{"issue":"10","key":"key2024050812002130200_ref015","first-page":"60","article-title":"Tang Yiming design and analysis of a kind of self-lock pole-climbing robot","volume":"39","year":"2015","journal-title":"Journal of Mechanical Transmission"},{"issue":"1","key":"key2024050812002130200_ref016","first-page":"59","article-title":"Design and grasping stability analysis of link type underactuated mechanical fingers","volume":"39","year":"2023","journal-title":"Machine Design and Research"},{"issue":"4","key":"key2024050812002130200_ref017","first-page":"6","article-title":"Design and experimental verification of high voltage tower climbing robot based on electromagnetic absorption","volume":"38","year":"2022","journal-title":"Machine Design and Research"},{"issue":"3","key":"key2024050812002130200_ref018","first-page":"93","article-title":"Structural design of the high voltage transmission line tower climbing robots","volume":"39","year":"2015","journal-title":"Journal of Mechanical Transmission"},{"issue":"4","key":"key2024050812002130200_ref019","first-page":"103","article-title":"Design of wall-climbing robot control system based on data fusion","volume":"42","year":"2023","journal-title":"Transducer and Microsystem Technology"},{"issue":"3","key":"key2024050812002130200_ref020","first-page":"342","article-title":"Structure optimization and analysis of pole-climbing robot based on SIMP method","volume":"30","year":"2013","journal-title":"Chinese Journal of Engineering Design"},{"issue":"6","key":"key2024050812002130200_ref021","first-page":"840","article-title":"Design of derrick climbing robot and its anti-overturning","volume":"41","year":"2022","journal-title":"Analysis Mechanical Science and Technology for Aerospace Engineering"},{"issue":"3","key":"key2024050812002130200_ref022","first-page":"40","article-title":"Climbing robot for forestry: research status and key","volume":"35","year":"2022","journal-title":"Technology World Forestry Research"},{"issue":"1","key":"key2024050812002130200_ref023","first-page":"28","article-title":"Structural optimum design and adsorption capacity research for oil-tank wall-climbing robot","year":"2021","journal-title":"Modern Manufacturing Engineering"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2023-0277\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2023-0277\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:40:29Z","timestamp":1753393229000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/51\/3\/455-464\/1233555"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,20]]},"references-count":23,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2024,3,20]]},"published-print":{"date-parts":[[2024,5,9]]}},"alternative-id":["10.1108\/IR-11-2023-0277"],"URL":"https:\/\/doi.org\/10.1108\/ir-11-2023-0277","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,3,20]]}}}