**3. Schematic design of the robot**

126 Serial and Parallel Robot Manipulators – Kinematics, Dynamics, Control and Optimization

structures for inspection and maintenance tasks, construction, petroleum, bridges, etc.), and

In order to demonstrate that this robot could be used in a continuous workspace, and could be positioned in different planes and surfaces of the metallic structure, we will study the closed chain forward and inverse kinematics, and direct kinematics of the final system

This chapter reviews related works, main important features and applications of some climbing and walking robots. A description of the geometry of a new developed climbing robot with a discrete hybrid (parallel-serial) moving mechanism composed by a closed kinematic chain and binary actuators will be explained. The schematic design of the robot and main postures will be also provided. Moreover, an analysis of the robot's workspace, forward and inverse kinematics of the parallel module, and forward kinematics of the

Climbing and walking robots are common in industry applications, like as, maintenance activities of nuclear plants, oil refineries, bridges, high voltage towers, medical fields, endoscope devices, and surgical instruments in general. The applications mentioned above are practiced with some problems to access and with hazardous environmental

To accomplish these tasks, robots need some important features, as reliable or robust, to be able to move over 3D structures, including walls, ceilings, pipes or cylindrical structures

Parallel robots have good performance, and they are perfect to manage manipulation tasks with short manipulation cycles, high speeds and accelerations. These characteristics are very difficult to obtain in serial robots. However, the proposal system combines advantages of serial and parallel robots. For example, thanks to the linear actuators, a parallel robot has a

Another desirable characteristics of these robots are that they need powerful torque in the actuators, mainly if they use serial legs for climbing. Although our system uses serial legs for climbing, the combination with parallel modules does that the torque of the actuators is

Higher speed is a desirable characteristic, but it is reduced when using legs for climbing, however, in our system, velocity is not a problem because of the parallel modules that are

Most common problem in the walking and climbing robots is how to negotiate the boundary of two plain surfaces such as convex or concave corners in 3D. In this paper, we

The main purpose of this project was to design a very simple robot similar to the Stewart-Gough platform, but combining serial robot abilities that allowed this to do climbing tasks. Probably the most important task to solve in this robot is the control system. To solve this, it is proposed a binary actuation. The binary degrees of freedom in this system are quasiexponential compared with serial robots, but the approach with a serial robot is increased too. As opposed, our system does not require feedback of any sensor, among other features. Some researchers have studied theses kind of binary actuation robots, but none of them has

(Reinoso et. al, 2001), and they also need to be adaptable into different terrains.

high ratio of payload and deadweight, so using linear actuators is totally justified.

propose a robot model that solves this problem in a right way, using hybrid legs.

to achieve similar characteristics according to usual robots destinated to these tasks.

consisting of hybrid leg mechanism.

complete serial robot will be also discussed.

**2. Related work** 

not needed to be very high.

used, similar to Stewart-Gough platforms.

used hybrid serial-parallel technology.

conditions.

As it was introduced above, the main goal of this project was to assemble different parallel modules to set up some new more complex serial ones. All of the linear actuators will be binary, and they will work into ON (stretched)/OFF (shrunken) position, to accomplish a wide workspace.
