Introduction

The overall goal of the project was to build a robot that could climb a rope. The design of the mechanism would follow the basis of a walking mechanism but meeting all the requirements to implement a vertical motion.

The main features of the final mechanism are a complex 2D motion controlling a 4 bar mechanism in parallel with a rocker making it an 8 bar mechanism controlled by a single brushed DC motor. This mechanism, the claw mechanism, was connected  in series with another claw mechanism that was on the same side of the robot and out of phase by 180 degrees.