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

Bridgwater, Tom; Griffiths, Gareth; Winfield, Alan; Pipe, Tony

Authors

Tom Bridgwater Tom.Bridgwater@uwe.ac.uk
Research Associate - Robot Behaviour Risk Assessment

Gareth Griffiths



Abstract

© 2016 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.

Citation

Bridgwater, T., Griffiths, G., Winfield, A., & Pipe, T. (2016). A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment. https://doi.org/10.1016/j.ifacol.2016.10.569

Journal Article Type Article
Conference Name 7th IFAC Symposium on Mechatronic Systems MECHATRONICS 2016
Acceptance Date Jun 1, 2016
Publication Date Jan 1, 2016
Journal IFAC-PapersOnLine
Print ISSN 2405-8963
Electronic ISSN 2405-8963
Peer Reviewed Peer Reviewed
Volume 49
Issue 21
Pages 288-293
DOI https://doi.org/10.1016/j.ifacol.2016.10.569
Keywords grappling hook, grapple, nuclear, decommissioning, obstacle, locomotion
Public URL https://uwe-repository.worktribe.com/output/1434547
Publisher URL http://dx.doi.org/10.1016/j.ifacol.2016.10.569
Additional Information Additional Information : The final publication is available at http://dx.doi.org/10.1016/j.ifacol.2016.10.569.
Title of Conference or Conference Proceedings : 7th IFAC Symposium on Mechatronic Systems MECHATRONICS 2016 — Loughborough University, Leicestershire, UK, 5—8 September 2016

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