A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment

Tom J F Bridgwater, Gareth D Griffiths, Alan F T Winfield, Anthony G Pipe

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

1 Citation (Scopus)
262 Downloads (Pure)

Abstract

Within the field of robotics there exist few designs for detachable grappling hooks. This paper focusses on the novel design of a detachable grappling hook for use within a nuclear cave environment. The design seeks to exploit the complex network of pipes that is present within a nuclear cave. It is hoped that the grapple may be used to aid with mapping and characterisation of the nuclear cave, as well as increasing the movement capabilities of robots within the cave. It is shown that our prototype grapple is able to support on average 2.4kg of mass, or thirty times its own weight. In addition when dropped from a height of 7.5cm, which removes ballistic instability, the grapple is able to engage itself 87\% of the time. Finally the minimum speed that the grapple must be travelling, in order to secure itself to its target, is found to be 1.08m/s.
Original languageEnglish
Title of host publication7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference
Subtitle of host publicationLoughborough University, Leicestershire, UK, 5—8 September 2016
PublisherAmsterdam:Elsevier
Pages288-293
Number of pages6
DOIs
Publication statusPublished - 2016
Event7th IFAC Symposium on Mechatronic Systems - Loughborough University, Loughborough, United Kingdom
Duration: 5 Sep 20168 Sep 2016

Publication series

NameIFAC Papers Online
PublisherElsevier
ISSN (Print)2405-8963

Conference

Conference7th IFAC Symposium on Mechatronic Systems
CountryUnited Kingdom
CityLoughborough
Period5/09/168/09/16

Keywords

  • Grappling hook
  • grapple
  • nuclear
  • decommissioning
  • obstacle
  • locomotion

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