A rope-climbing robot (RCR) can reciprocate on a rope. To address the problems of poor load capacity and adaptability of the existing RCR, this study designs a dual-rope crawler type RCR, which can be used as a new type of transportation equipment in hilly, mountainous, and plateau areas. The crawler rope-climbing mechanism is a combination of a chain drive and the rope-climbing foot. Innovatively applying the parabolic theory of overhead rope to kinematically analyze the rope-climbing robot system, the robot motion trajectory model and the tilt angle equation are established. To establish the...
