Theory and Design

According to the characteristics required for the system, the design has to accomplish a 1 DOF motion generating a trajectory similar to the one that is produced by a walking mechanism. That design consideration comes from the analysis of the point of the mechanism that is going to be in contact with the rope while climbing. For convenience in this description and analysis this point of pressure is going to be called point P.

In a walking mechanism, the point P makes a trajectory displayed by the following animation. This motion is very similar to the desired motion when climbing.