Design of a Robot Grapple

Abstract

This work focuses on the design of a detachable robotic grappling hook. The final purpose of the Thesis is the remote characterisation of a nuclear cave environment, through the use of a heterogeneous swarm of robots. I designed a grapple which could hold on the pipes in nuclear cave and invented the grapple propulsion means.

The grapple has been designed to be small, light and balanced. First, I conducted a theoretical study in order to design the grapple as efficiently as possible. After a printed 3D version, has been made, and tested in order to confirm the theory. Finally I found a way to fire the grapple through the use of compress air.