Abstract:
An apparatus designed for climbing poles, trees and other such columnar objects. The apparatus is a remote-controlled work station that provides a scaffold for mounting semi-robotic articulated arms and video cameras. The articulated arm has a quick-release coupler on an end thereof that is able to repeatedly and releasably couple attachments thereto, such as saws, blades, and other pruning objects. The device includes an expandable frame that may be opened and closed to fit around the vertical structure to be climbed. The frame has horizontal and vertical supports, drive system compression supports, and wheels. A drive system is mounted to each of the drive system compression supports. The drive system includes motorized tracked-climbers that are maintained in contact with the vertical structure to be climbed via adjustable independent suspension. The suspension uses adjustable spring shocks and drive system slide rails to connect the frame to the drive system.

Description:
BACKGROUND 
       [0001]    Technical Field 
         [0002]    This disclosure relates generally to the field of workstations and more specifically relates to remote-controlled workstations. 
         [0003]    State of the Art 
         [0004]    Problems emerge when tall, natural and artificial objects need to be installed, maintained or repaired. Many natural columnar objects such as trees, especially palm trees, also require maintenance tasks such as de-limbing or cutting palm fronds to be performed at various intervals. Trees normally present a problem to persons attempting to perform tasks requiring ascending and descending, since tree trunks are not typically uniform in thickness or in surface consistency and may have limbs and other obstacles that may impede such endeavors. 
         [0005]    In addition to trees, artificial structures such as those used to support above-ground utility and communication lines often require periodic or regular maintenance. The service of these structures and lines may cause persons to undergo undue risk from falling from great heights, electrocution from high-voltage electric lines, or other such inherent dangers. 
         [0006]    Safety equipment may be provided to protect persons from falling hazards; however the equipment may be expensive, restrictive and uncomfortable for a user to wear. Further, the safety equipment such as for example, a safety harness may only provide minimal protection against falling hazards and offer no protection against electrocution should the user come into contact with a live electrical wire. 
         [0007]    Scaffolding may be used as a means to work on columnar objects; however scaffolding is not conducive to portability and still leaves the person at risk to accidents from contact and falling injuries. Further, the scaffolding requires significant set-up and teardown time which may be expensive and time-consuming. 
         [0008]    Ideally, a workstation would be stable, would separate users from many of the dangers described above, would require minimal maintenance, would operate safely and reliably, and would be manufactured at a modest expense. Thus, a need exists for a workstation to protect workers from dangerous conditions and to avoid the above-mentioned problems. 
       SUMMARY 
       [0009]    The present invention relates to the field of workstations and more specifically relates to remote-controlled workstations. 
         [0010]    An aspect of the present disclosure includes a vertical climbing workstation apparatus, the workstation apparatus comprising a frame, a powered drive system functionally coupled to the frame, a suspension system functionally coupled to the powered drive system, wherein the powered drive system is configured to engage a columnar object and under the condition that the powered drive system is operated the vertical climbing workstation apparatus moves with respect to the columnar object. 
         [0011]    Another aspect of the present disclosure includes the columnar object having one end thereof embedded in a surface and an opposing end thereof that extends from the surface, and wherein the workstation apparatus is adapted to travel along the centrally located axis of the columnar object. 
         [0012]    Another aspect of the present disclosure includes the frame further comprising an adjustable rail and one or more corner sections, the adjustable rail being functionally coupled between neighboring corner sections, the adjustable rail being adapted to adjust the distance between neighboring corner sections to adjust the frame. 
         [0013]    Another aspect of the present disclosure includes the frame being configured to removably surround the columnar object and configured to be offset from the columnar object, and wherein the powered drive system engages the columnar object. 
         [0014]    Another aspect of the present disclosure includes the adjustable suspension system being functionally coupled between the frame and the powered drive system and wherein the adjustable suspension system supports the powered drive system against columnar object. 
         [0015]    Another aspect of the present disclosure includes the adjustable suspension system further comprising a linear actuator that is adapted to adjust the positional relationship between the powered drive system and the frame to support the powered drive system against the columnar object as the powered drive system engages irregularities on the columnar object. 
         [0016]    Another aspect of the present disclosure includes the adjustable suspension system being retractable to release the powered drive system from the columnar object to allow rapid descent of the workstation apparatus from the columnar object 
         [0017]    Another aspect of the present disclosure includes the apparatus being configured to be operated by a user remotely positioned from the apparatus, the apparatus being controlled by a control unit in communication with a remote control operated by the user. 
         [0018]    Another aspect of the present disclosure includes a semi-robotic arm, the semi-robotic arm being releasably coupled to the frame and the semi-robotic arm comprising one or more appendages functionally coupled together in succession by a joint therebetween. 
         [0019]    Another aspect of the present disclosure includes the joint further comprising a pivot assembly and a rotation assembly, wherein the pivot assembly provides pivoting motion between successive appendages with respect to one another and wherein the rotation assembly provides rotational motion between successive appendages with respect to one another. 
         [0020]    Another aspect of the present disclosure includes the semi-robotic arm further comprising a tool holder for engaging a tool. 
         [0021]    Another aspect of the present disclosure includes the semi-robotic arm further comprising a camera for observing the tool. 
         [0022]    Another aspect of the present disclosure includes the workstation apparatus comprising an adjustable frame having adjustable rails configured to expand or contract to adjust dimensions of the adjustable frame, a powered drive system functionally coupled to the frame, the powered drive system having a tracked-climber, and a suspension system functionally coupled between the powered drive system and the adjustable frame, wherein the tracked-climber is configured to engage a columnar object and under the condition that the powered drive system is operated the workstation apparatus moves with respect to the columnar object. 
         [0023]    Another aspect of the present disclosure includes the tracked-climber further comprising a motor, a gear set functionally engaged by the motor, a power pulley functionally engaged by the gear set, and a track functionally engaged by the power pulley, wherein the motor provides power to rotate the gear set to provide rotation to the power pulley, wherein the rotation of the power pulley causes the track to move tangentially in relation to the power pulley, and wherein the tangential movement of the track results in the workstation apparatus traveling along the axis of the columnar object. 
         [0024]    Another aspect of the present disclosure includes the powered drive system comprising three tracked-climbers individually coupled to the frame. 
         [0025]    Another aspect of the present disclosure includes each of the tracked-climbers being coupled to a respective suspension system and each suspension system being configured to support the corresponding tracked-climber against the columnar object as the workstation apparatus ascends and descends the columnar object and thereby engages irregularities in the columnar object. 
         [0026]    Another aspect of the present disclosure includes the motor being pneumatically, hydraulically, or electrically controlled. 
         [0027]    Another aspect of the present disclosure includes the tracked-climber further comprising a tensioning member that is adapted to adjust a tension of the track. 
         [0028]    Another aspect of the present disclosure includes a method of use for a vertical climbing workstation apparatus comprising, placing the workstation apparatus around a columnar object, bringing tracked-climbers of a powered drive system into contact with the columnar object using a remote control, activating tracks of the tracked-climbers to control ascension and decent of the workstation with respect to the axis of the columnar object, and performing tasks on the columnar object. 
         [0029]    Another aspect of the present disclosure includes the method of use for a vertical climbing workstation apparatus further comprising, removing an adjustable rail from a frame of the workstation apparatus to place the workstation apparatus around the columnar object, replacing the adjustable rail in the frame after the workstation apparatus has been placed around the columnar object, adjusting the adjustable rail to expand or contract the frame, operating the tracked-climbers by remote control to control the ascension and decent of the workstation apparatus on the columnar object, performing tasks on the columnar object using a semi-robotic arm having a tool and a camera attached thereto, retracting the tracks from the columnar object to allow the workstation to descend rapidly from the columnar object, operating the tracked-climbers to control the descent of the columnar object until the columnar object reaches a ground surface, removing the adjustable rail to remove the workstation apparatus from around the columnar object, and removing the workstation from around the columnar object. 
         [0030]    The foregoing and other features, advantages, and construction of the present disclosure will be more readily apparent and fully appreciated from the following more detailed description of the particular embodiments, taken in conjunction with the accompanying drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0031]    Some of the embodiments will be described in detail, with reference to the following figures, wherein like designations denote like members: 
           [0032]      FIG. 1  is a perspective view of an embodiment of a workstation in accordance with the present disclosure. 
           [0033]      FIG. 2  is a perspective view of an embodiment of a workstation in accordance with the present disclosure. 
           [0034]      FIG. 3  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0035]      FIG. 4  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0036]      FIG. 5A  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0037]      FIG. 5B  is an exploded view of a component of an embodiment of a workstation in accordance with the present disclosure. 
           [0038]      FIG. 6  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0039]      FIG. 7  is a perspective view of components of the embodiment of the workstation depicted in  FIG. 6  in accordance with the present disclosure. The housing  142  is shown in broken- or dotted-lines to reveal the interior of the housing  142 . 
           [0040]      FIG. 8  is an exploded view of components of the embodiment of the workstation depicted in  FIGS. 6 and 7  in accordance with the present disclosure. 
           [0041]      FIG. 9  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0042]      FIG. 10  is a perspective view of components of the embodiment of the workstation depicted in  FIG. 9  in accordance with the present disclosure. 
           [0043]      FIG. 11  is a cut-away perspective view of components of the embodiment of the workstation depicted in  FIG. 9  in accordance with the present disclosure. 
           [0044]      FIG. 12  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0045]      FIG. 13  is an exploded view of components of the embodiment of the workstation depicted in  FIG. 12  in accordance with the present disclosure. 
           [0046]      FIG. 14  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0047]      FIG. 15  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0048]      FIG. 16  is an exploded perspective view of components of the embodiment of the workstation depicted in  FIG. 15  in accordance with the present disclosure. 
           [0049]      FIG. 17  is an exploded perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0050]      FIG. 18  is an exploded perspective view of components of the embodiment of the workstation depicted in  FIG. 17  in accordance with the present disclosure. 
           [0051]      FIG. 19  is an exploded perspective view of components of the embodiment of the workstation depicted in  FIG. 17  in accordance with the present disclosure. 
           [0052]      FIG. 20  is a perspective view of components of an embodiment of a workstation in accordance with the present disclosure. 
           [0053]      FIG. 21  is a schematic view of a method of using embodiments of the workstation in accordance with the present disclosure. 
           [0054]      FIG. 22  is a schematic view of an operation of an embodiment of a workstation in accordance with the present disclosure. 
       
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
       [0055]    A detailed description of the hereinafter described embodiments of the disclosed apparatus and method are presented herein by way of exemplification and not limitation with reference to the Figures listed above. Although certain embodiments are shown and described in detail, it should be understood that various changes and modifications may be made without departing from the scope of the appended claims. The scope of the present disclosure will in no way be limited to the number of constituting components, the materials thereof, the shapes thereof, the relative arrangement thereof, etc., and are disclosed simply as an example of embodiments of the present disclosure. 
         [0056]    As a preface to the detailed description, it should be noted that, as used in this specification and the appended claims, the singular forms “a”, “an” and “the” include plural referents, unless the context clearly dictates otherwise. 
         [0057]    Referring to the drawings,  FIGS. 1-3  depict perspective views, respectively, illustrating vertical climbing workstation apparatus  100  at rest, preceding use on columnar object  120  in  FIG. 1 , and workstation  100  in use, on columnar object  120  in  FIG. 2 , and workstation  100  not surrounding a columnar object  120 , all according to embodiments of the present disclosure. Workstation apparatus  100  is shown in  FIG. 1  in a non-employed position  104 . Workstation apparatus  100  is resting on ground  102 , surrounding the base of tree  122  as would be realized during a typical setup or dismantle process.  FIG. 2  illustrates workstation apparatus  100  in employed-position  204  in use on utility pole  222 .  FIG. 3  depicts a perspective view of an embodiment of the workstation  100 . 
         [0058]    A vertical climbing workstation apparatus  100  according to the present disclosure comprises an adjustable frame  140 , a powered drive system  130 , an adjustable suspension system  160 , and a remote control  170  that may be operated by a user  110 . As depicted in  FIG. 3 , portions of the workstation apparatus  100  are shown separate from columnar object  120  to provide an unobstructed view of the relation between these components of the workstation apparatus  100 . The overall design of the workstation apparatus  100  is targeted at durability for longevity, cost-effectiveness in use and to protect the user  110  from unnecessary risk during repair or maintenance tasks. The workstation apparatus  100  is shown in pre-use and in-use in  FIGS. 1 and 2 , respectively. The workstation apparatus  100  may comprise a variety of sizes and shapes and be manufactured from various materials. Ideally, the workstation apparatus  100  is grounded and/or comprises non-conductive materials to insulate user  110  from electrical shock. Moreover, by the user  110  being remotely positioned from the workstation  100  while operating the workstation  100  via remote control, the user  110  is also separated, or otherwise removed, from the possibility of electric shock. 
         [0059]    The workstation  100  may be powered by on-board battery power, via one or more batteries  9  positioned on the workstation  100 , and operated via one or more wireless controllers that communicate wirelessly with the control unit  8  on the workstation  100 , the control unit  8  comprising a computer system, including, but not limited to, for example, a processor (CPU), an internal storage unit, random access memory (RAM), software, a network card, alternative inputs for a keyboard, mouse, joystick or other input device, a motherboard, and components, such as receivers and transmitters, for sending and receiving wireless signals. The computer system herein described is configured to control the operational aspects of the workstation  100 . For example, the software may be a computer program that is developed and configured to operate the workstation  100  according to its intended operation, as described herein. In embodiments of the workstation  100 , the control unit  8  may be utilized to control the adjustable frame  140 , the powered drive system  150 , the camera(s)  108 , the arm  106 , the compressor  7 , the individual motors, the tool  5  and the tool holder  312 , and other operational aspects of the workstation  100 , as depicted in  FIG. 22 . 
         [0060]    Alternatively, the workstation  100  may be powered by batteries  9  positioned remotely from the workstation  100  and the workstation may be controlled, or otherwise operated, via a combined power supply and a wired controller, such as, for example, a wiring harness. The adjustable frame  140  of workstation apparatus  100  may be offset from and surround an entire exterior circumference of the columnar object  120 , such as the tree  122  as shown in  FIG. 1  or the utility pole  222  of  FIG. 2 , to which adjustable frame  140  may be functionally and removably coupled. The workstation may also be powered by pneumatic control or hydraulic control as will be herein described. 
         [0061]    As depicted in  FIGS. 3-4 , embodiments of the workstation  100  may include the adjustable frame  140  and can be manufactured from square or rectangular tubing for cost-effectiveness in manufacturing. The adjustable frame  140  may comprise one or more corner sections  145  and an adjustable rail  139  coupled between consecutive cornering sections  145 . The adjustable rail  139  may further comprise at least one frame expansion housing  142  and a corresponding frame expansion rod  143  that is inserted therein and is configured to move therein. For example, the adjustable frame  140  may be adapted and configured to be expandable and contractible using at least one frame expansion housing  142  and a corresponding frame expansion rod  143 , wherein the frame expansion rod  143  may move with respect to the frame expansion housing  142  to thereby allow workstation apparatus  100  to expand or retract in size, as needed. For example, standard wireless feedback sensors may be positioned on the workstation  100  to sense the changing diameter or changing surface conditions of the columnar object  120  as the workstation  100  travels along the axis of the columnar object  120 . For example, the adjustable frame  140  may be configured to allow the frame expansion rods  143  and the frame expansion housing  142  to move with respect to one another in response to the feedback from the sensors to adjust the size of the adjustable frame  140 . The sensors may communicate with the control unit  8  to instruct the adjustable frame  140  to automatically expand in response to the increasing diameter of the columnar object  120 . Conversely, the sensors may communicate with the control unit  8  to instruct the adjustable frame  140  to automatically retract in response to the decreasing diameter of the columnar object  120 . In this way, the workstation  100  is adaptable to be fitted around columnar objects  120  of varying dimensions and perimeters of round and semi-round profiles. Moreover, one or more frame expansion rods  143  may be decoupled from or coupled to corner sections  145 , so as to permit the one or more frame expansion rods  143  to detach from the workstation  100  to allow the workstation  100  to be taken off of and transported away from the columnar object  120 . 
         [0062]    As depicted in  FIG. 5 , the corner section  145  may further comprise vertical support beams  146  and horizontal support beams  147 . The vertical support beams  146  may have attached thereto the horizontal support beams  147  on each distal end thereof. The vertical support beams  146  may further comprise powered drive system mounts  131  thereon to support the functional operation of the powered drive system  130 . Each of the mounts  131  may have a through bore therein  131   a . The corner section  145  may further comprise a bracket mount  148 . The bracket mount  148  may be configured to receive and releasably couple thereto a bracket  149  that may be configured to receive and releasably couple thereto an arm base  107  that may be configured to receive and releasably couple thereto a semi-robotic arm  106 , to be discussed in greater detail below. 
         [0063]    As depicted in  FIG. 5A , the corner section  145  may further comprise one or more corner frame couplers  180 , wherein each of the corner frame couplers  180  may be configured to receive a corresponding frame expansion end cap  143   c  positioned on a distal end of a frame expansion rod  143 , as depicted in  FIGS. 6-8 . Embodiments of the workstation  100  include the coupler  180  being operated to functionally engage the end cap  143   c  to thereby secure the frame expansion rod  143  to the corner section  145  via the mechanical locking relationship between the coupler  180  and the corresponding end cap  143   c.    
         [0064]    As depicted in  FIG. 5B , each of the couplers  180  may further comprise a body  181 , one or more pins  188 , a quick release member  190 , and a securing ring  194 . The body  181  may be further comprised of a securing member  181   a  and a circular portion  181   b . The securing member  181   a  may be configured to engage a corresponding horizontal support beam  147  of the corner section  145 . The support beam  147  may be hollow. The support beam  147  and the securing member  181   a  may be configured to have corresponding shapes, such that the securing member  181   a  may be inserted within the hollow portion of the support beam  147 . Thereafter, the securing member  181   a  may be fixedly coupled to the support beam  147 , such that the support beam  147  supports and secures thereto the coupler body  181 . On the other hand, the circular portion  181   b  may further comprise engagement openings  184  positioned at regular intervals around the circumference of the outer surface of the circular portion  181   b . The circular portion  181   b  may also comprise slits  186  in the outer surface positioned at regular intervals. The circular portion  181   b  may also comprise holes  187  positioned in the outer surface positioned at regular intervals. The circular portion  181   b  may be configured to define a hollow cavity  185  therein. The engagement openings  184  may be configured to extend completely through the circular portion  181   b  and into the hollow cavity  185 . The slits  186  and the holes  187  may also be configured to extend completely through the circular portion  181   b.    
         [0065]    Each of the pins  188  may be comprised of a pin head  188   a  and a pin tail  188   b . Each of the pins  188  may be configured to engage the outer surface of the circular portion  181   b , such that the pin head  188   a  of one of the pins  188  may engage a corresponding engagement opening  184 . Likewise, the pin tail  188   b  of one of the pins  188  may be configured to engage a corresponding slit  186 . In this way, each of the pins  188  may be anchored to the circular portion  181   b  while at the same time allowing the pin head  188   a  of each of the pins  188  to slidably engage the axial opening of the engagement opening  184 . The pin head  188   a  may be configured to be circular in shape to correspond to the circular shape of the engagement opening  184 . The pin tail  188   b  may be configured to flex, or otherwise bend, to allow the pin head  188   a  to move in or out of the engagement opening  184  in response to force applied to the pin  188 . 
         [0066]    A quick release member  190  may be configured to engage each of the pins  188  on the circular portion  181   b , as well as rotatably communicate with the circular portion  181   b . The quick release member  190  may be configured to have a throughbore therein, the throughbore being configured to fit over and functionally communicate with the outer surface of the circular portion  181   b  and the pins  188 . The quick release member  190  may have an internal indention  191  along the inside circumference of the quick release member  190 . The internal indention  191  may be configured to functionally engage, and house, the pins  188 , including the pin tail  188   b  and the pin head  188   a  of each of the pins  188 . The internal indention  191  may further comprise one or more graduated depressions  192  therein. The graduated depressions  192  may be configured to communicate with the pins  188 , such that at the deepest point of the graduated depression  192 , the pin head  188   a  does not functionally engage the engagement opening  184 , or at least does not pass completely through the circular portion  181   b  and into the hollow cavity  185 . In this position, the pin head  188   a  is in a non-engaged position, which purpose will be described hereinafter in greater detail. At the shallowest point of the graduated depression  192 , the pin head  188   a  functionally engages the engagement opening  184  and passes completely through the circular portion  181   b  and into the hollow cavity  185 . In this position, the pin head  188   a  is in an engaged position, which purpose will be described hereinafter in greater detail. Thus, the quick release member  190  may be rotated about the circular portion  181   b  to transition the pins  188  from the deepest portion of the graduated depression  192  to the shallowest portion of the graduated depression  192  to transition the pin head  188   a  from the non-engaged position to the engaged position, respectively. Likewise, the quick release member  190  may be rotated about the circular portion  181   b  to transition the pins  188  from the shallowest portion of the graduated depression  192  to the deepest portion of the graduated depression  192  to transition the pin head  188   a  from the engaged position to the non-engaged position, respectively. The rotational movement of the quick release member  190  may be repeatedly performed to transition the pins  188  between their respective engaged and non-engaged positions. 
         [0067]    The securing ring  194  may be configured to functionally engage the circular portion  181   b  and function to maintain the engagement of the quick release member  190  on the circular portion  181   b . The securing ring  194  may have holes  195  that are configured to correspond to the holes  187  in the circular portion  181   b , such that a fastener (now shown) may be inserted through the holes  195  and  187  to secure the securing ring  194  to the circular portion  181   b.    
         [0068]    As previously mentioned, the end cap  143   c  of the frame expansion rod  143  may be configured to repeatedly and releasably couple to the coupler  180  on the corner section  145 . The end cap  143   c  may be configured with engagement ports  184   a  that are positioned at regular intervals around the outer circumference of the end cap  143   c . The engagement ports  184   a  may be configured to correspond to the engagement openings  184  in the circular portion  181   b . As such, the engagement ports  184   a  may be configured to likewise receive a corresponding pin head  188   a  that has been forcibly inserted completely through the engagement opening  184  under the condition that the pins  188  are in the engaged position. As suggested, in the engaged position  188 , the pin head  188   a  of each of the pins  188  functionally engages both the engagement opening  184  of the circular portion  181   b  and the respective engagement port  184   a  in the end cap  143   c . In this way, in the engaged position, the pins  188  function to functionally engage the frame expansion rod  143  to the corner section  145 , via the mechanical and functional engagement of the end cap  143   c  and the coupler  180 . In the non-engaged position, the pins  188  release the end cap  143   c  from the coupler  180  and permit the frame expansion rod  143  to be removed from the corner section  145 . As a result of the above, the simple operation of rotating the quick release member  190  about the circular portion  181   b  permits the pins  188  to transition easily and quickly between an engaged position and a non-engaged position to easily and quickly release or couple, as the case may be, the frame expansion rods  143  to the corner sections  145 . This quick release design permits the user  110  to quickly and easily assemble or disassemble the workstation  100  form around the columnar object  100 . 
         [0069]    As depicted in  FIG. 6 , the workstation  100  may comprise the adjustable rail  139 . The adjustable rail  139  may further comprise a frame expansion housing  142  and one or more corresponding frame expansion rods  143 . Embodiments of the workstation  100  include the frame expansion housing  142  being hollow in portions thereof to permit each of the frame expansion rods  143  to partially reside therein. For example, as depicted in  FIG. 7 , portions of the frame expansion rods  143  may reside within the hollow portion of the frame expansion housing  142  and other portions of the frame expansion rods  143  may reside outside of the housing  142 .  FIG. 7  shows the housing  142  in dotted lines, to reveal the interior of the housing  142 , such that the portions of the frame expansion rods  143  that are within the frame expansion housing  142  are visible within the housing. The frame expansion rods  143  may be configured to functionally engage the hollow portion of the housing  142 . For example, as depicted in  FIGS. 7 and 8 , a frame expansion rod head  143   a  may be coupled to a distal end portion of the frame expansion rod  143  that is placed within the hollow portions of the frame expansion housing  142 . The frame expansion rod head  143   a  may be configured to slidably engage, or otherwise communicate with, the interior surface of the hollow frame expansion housing  142 . A head seal  143   b  may be placed over the rod head  143   a  to seal the communication between the frame expansion rod  143  and the interior of the frame expansion housing  142 , such that an airtight chamber  141   c  is established. Further in example, a frame expansion housing cap  142   a  may be coupled to an end portion of the frame expansion housing  142 , or otherwise fixed with respect to the frame expansion housing  142 , and the frame expansion housing cap  142   a  may be configured to slidably engage, or otherwise communicate with, the frame expansion rod  143 . For example, the housing cap  142   a  may be a linear bearing that permits the slidable communication between the expansion rod  143  and the housing  142 . In this way, the frame expansion rod  143  and the frame expansion housing  142  may move with respect to one another. A cap seal  142   b  may be positioned against the internal side of the housing cap  142   a , such that the seal  142   b  completes the airtight chamber  141   c  mentioned above. Specifically, the head seal  143   b  and the cap seal  142   b  each communicate with the interior surface of the housing  142  to create the airtight chamber  141   c  within the housing  142  between the cap seal  142   b  and the head seal  143   b.    
         [0070]    The expansion rod head  143   a  may be further configured to prevent the expansion rod  143  from disengaging from the frame expansion housing  142 , such that the frame expansion rod head  143   a  remains within the housing  142 . Of course, the expansion housing cap  142   a  may be manually removed from the housing  142  to allow the frame expansion rod  143  to disengage and be removed from the housing  142 , if desired by the user, for maintenance and repair, or the like. 
         [0071]    The frame expansion rods  143  may pneumatically communicate with the frame housing  142 . As depicted in  FIGS. 7 and 8 , an air line  141   a  and an air valve  141   b  may be provided to facilitate pneumatic communication between the frame expansion rods  143  and the interior of the frame housing  142 . Air within an air tank may be compressed in a compressor  7 , and the resulting high-pressure air may flow through the air valve  141   b  and through the air line  141   a  and into the airtight chamber  141   c  created between each set of the cap seal  142   b  and the head seal  143   b . Air pressure may be increased by flowing air into the airtight chamber  141   c  to push against both the frame expansion rod head  143   a  and the housing cap  142   a  to force the frame expansion rod  143  to move axially inward with respect to the housing  142 . In other words, as the pressure inside the airtight chamber  141   c  is increased, the force of the pressure causes the frame expansion rod head  143   a  and the housing cap  142   a  to move apart from one another, which reduces the length of the frame expansion rod  143  that extends outside the housing  142 , which reduces the overall length of the adjustable rail  139 . Similarly, air pressure may be reduced by flowing air out of the airtight chamber  141   c  to reduce the force against both the frame expansion rod head  143   a  and the housing cap  142   a  to allow the frame expansion rod  143  to move axially outward with respect to the housing  142 . In other words, as the pressure inside the airtight chamber  141   c  is decreased, the reduced force of the pressure causes the frame expansion rod head  143   a  and the housing cap  142   a  to move toward one another, which increases the length of the frame expansion rod  143  that extends outside the housing  142 , which increases the overall length of the adjustable rail  139 . Accordingly, such a pneumatic configuration may be used to fix the positional relationship between the frame expansion rods  143  and the interior of the frame housing  142 , as determined by the user  110 , to adjust the overall length of the adjustable rail  139  as determined by the diameter or size of the columnar object  120  on which the workstation  100  is mounted. Further, the pneumatic configuration may be used to fix the positional relationship between the frame expansion rods  143  and the interior of the frame housing  142 , as determined by wireless communication with the operator&#39;s computerized control unit, the computer program controlling the pressure to achieve the desired movement within predetermined parameters, making this function transparent to the user except when attaching or removing the workstation  100  from a columnar object  120 . 
         [0072]    In embodiments of the workstation  100 , the outward pressure and movement of the adjustable rail  139  is provided by the columnar object  120  and is communicated to the frame expansion rods  143  via the push back pressure of the columnar object  120  on the powered drive system  130  which is attached to the frame corner assemblies  145  to which the adjustable rails  139  are attached via the locking mechanism between the coupler  180  and the end cap  143   c . In other words, as pressure is produced by the columnar object  120  on the powered drive system  130 , the respective tracked climbers  150  of the powered drive system  130  pushes against the respective corner sections  145  to which the tracked climbers  150  are functionally coupled. As pressure is thus exerted on the corner sections  145 , the adjustable rail  139  may need to adjust to maintain the tracked climbers  150  on the columnar object  120 . Therefore, sensors on the workstation  100  communicate with the control unit  8  which communicates with the air compressor which communicates with the airtight chamber  141   c  which adjusts the length of the adjustable rail  139 . 
         [0073]    The pressurized interior of the airtight chamber  141   c  may be depressurized to manually adjust the frame expansion rods  143  with respect to the housing  142  or to disengage the frame expansion rods  143  from the housing  142 . The pressurized interior of the airtight chamber  141   c  may alternatively be automatically adjusted to adjust the frame expansion rods  143  with respect to the housing  142  or to disengage the frame expansion rods  143  from the housing  142 . The automatic adjustment of the size of each of the adjustable rails  139  may be facilitated by feedback received by the powered drive system  130 . To maintain the powered drive system  130  in contact with the columnar object  120 , the adjustable rail  139  may need to automatically adjusted, as described above, in real time to accommodate for the changing diameter of the columnar object  120 . In a similar manner, hydraulic or mechanical means may be utilized to automatically or manually adjust and fix the positional relationship between the frame expansion rods  143  and the interior of the frame housing  142 , as described herein. In fact, the structural configuration above provides that. 
         [0074]    As depicted in  FIGS. 1-3 , embodiments of the workstation  100  further comprise a powered drive system  130  coupled thereto. The powered drive system  130  may further comprise one or more tracked climbers  150 , as depicted in  FIGS. 9-11 , that work together to result in the workstation  100  being able to ascend and descend on the columnar object  120 . Columnar objects  120  may be inconsistent with respect to the circumference size, such as the tree  122  that may narrow from bottom to top of the tree  122 . In addition, the columnar object  120  may have many surface variations such as knots, small limbs, bark irregularities, and other such conditions. As a result, the powered drive system  130  may be configured to accommodate for these inconsistent irregularities. 
         [0075]    As depicted in  FIGS. 9-11 , a tracked climber  150  comprises a track  412 , enclosure panels  500 , and rails  602 . The track  412  may be supported and oriented between opposing enclosure panels  500  and configured to move therebetween, as will be described in greater detail below. The enclosure panels  500  are configured to releasably and lockably enclose each vertical side of track-climber  150 , as shown in  FIGS. 8 and 9 . Enclosure panels  500  are preferably held in place using removable fasteners, not shown. The rails  602  may extend from the panels  500  and may be configured to engage the through bore  131   a  on the mount  131  to functionally engage the tracked climber  150  with the adjustable frame  140 . Each of the through bores  131   a  may be configured to house a linear bearing therein that helps facilitate the functional communication of the rails  602  with the respective through bore  131   a . Each rail  602  may be configured to engage a corresponding through bore  131   a . Moreover, each rail  602  may be configured to slidably engage its corresponding through bore  131   a , such that the rails  602  may slide back and forth within the corresponding through bore  131   a  but not completely detach, or otherwise disengage, therefrom, unless of course the user  110  manually disengages the rails  602  from within the through bore  131   a , as needed. The configuration of the rails  602  and the corresponding through bores  131   a  may permit each tracked climber  150  to move toward or away from the columnar object  120  in response to the contours, irregularities, and other variations in the surface of the columnar object  120 , as discussed above. Moreover, the configuration of the rails  602  and the corresponding through bores  131   a  may restrict the side-to-side movement of the tracked climber  150  to maintain the track  412  of each tracked climber  150  more or less centered on the columnar object  120 , despite the contours, irregularities, and other variations in the surface of the columnar object  120  discussed above. 
         [0076]    Embodiments of the tracked climber  150  include the track  412  comprising grips  414 , which can be oriented in any direction on the track  412 . Embodiments of the tracked climber  150  include the grips  414  being oriented transverse to the direction of motion of the track  412 . Alternatively, as depicted, the grips  414  may run parallel with the direction of motion of the track  412 . Moreover, embodiments of the tracked climber  150  include the grips  414  being positioned on the track  412  in arbitrary locations and positions, or on the other hand, in a repeated pattern on the track  412 . Indeed, the grips  414  may be configured on the track  412  in a continuous or repeated manner or in an arbitrary manner, and the grips  414  may have the same or varying patterns, designs, shapes, profiles, and sizes with respect to one another to facilitate adequate gripping of the track  412  on the columnar object  120 . Additionally, the track  412  may be interchangeable from one tracked climber  150  to another by removing one of the panels  500  and removing the track  412 . Thus, individual tracks  412  with varying grips  414  can be interchanged in the tracked climber  150  for use in the workstation  100  depending upon the surface characteristics of the columnar object  120  on which the workstation  100  will be used, as determined by the user  110 . 
         [0077]    As depicted in  FIGS. 11-13 , embodiments of the workstation  100  include the tracked-climber  150  further comprising a motor  402 , a gear set  404 , a power pulley  408 , and a plurality of idler pulleys  410  housed within the tracked-climber  150  and between opposing enclosure panels  500  (one of which is removed in the embodiment depicted in  FIG. 11 , so as to expose the inner components of the tracked-climber  150 ). The motor  402  may be configured to drive a gear shaft  405  that drives the gear set  404 . The motor  402  may be configured to drive the gear shaft  405  in a clockwise or counterclockwise rotation, thus controlling the movement of the workstation  100 , as described herein. The motor  402  may be AC or DC electrically controlled, hydraulically-controlled, or pneumatically-controlled, depending on preference of user  110 , or the desired work application. Under the condition that the motor  402  is electrically controlled, the motor  402  may be powered by on-board batteries  9  or through the wiring harness described herein. The electrical motor  402  may be configured to provide rotational motion to the gear shaft  405 , which thus powers the gear set  404 , which thus provides rotational motion to the power pulley  408 , which thus provides motion to the track  412  to control the movement of the workstation  100 , as described herein. As depicted in  FIG. 13 , the motor  402  may be pneumatically powered and may further comprise an air vane  403  that may be configured within the motor  402  and may be further configured to receive high pressure air therein from the compressor  7  to rotate the air vane  403  to provide rotational motion to the gear shaft  405 , which thus powers the gear set  404 , which thus provides rotational motion to the power pulley  408 , which thus provides motion to the track  412  to control the movement of the workstation  100 , as described herein. 
         [0078]    The gear set  404  may be configured to comprise one or more gears  406  that transfer rotational motion of the motor  402  to rotational motion of the power pulley  408 . The gears  406  may comprise a worm gear set  407   a  and a helical gear set  407   b  that function to communicate rotational motion of the motor  402  to rotational motion of the power pulley  408 . The worm gear set  407   a  may be coupled to a distal end of the shaft  405 , such that as the shaft  405  rotates, so too does the worm gear set  407   a . The worm gear set  407   a  may also be in mechanical communication with the helical gear set  407   b , such that as the worm gear set  407   a  rotates, so too does the helical gear set  407   b . The helical gear set  407   b  may be in mechanical communication with a pulley drive shaft  416 , such that as the helical gear set  407   b  rotates, so too does the pulley drive shaft  416 . The pulley drive shaft  416  may be in mechanical communication with the power pulley  408 , such that as the pulley drive shaft  416  rotates, so too does the power pulley  408 . Thus, the gears  406  function to transfer rotational motion of the motor  402  to rotational motion of the power pulley  408 . 
         [0079]    Embodiments of the tracked-climber  150  further comprise the motor  402 , the gear set  404  and the power pulley  408  being engaged and held in place by a first-side drive carriage  422  and a second-side drive carriage  424  that are configured to secure to one another with the motor  402 , the gear set  404 , and at least a power pulley  408  being housed therebetween. The carriages  422  and  424  may be functionally coupled to the tracked-climber  150 . In addition, a tension member  426  may be coupled to one or more of the power pulleys  408 . The tension member  426  may be configured to maintain the positional relationship between opposing power pulleys  408 . The tension member  426  may further be configured to increase or decrease the distance between opposing power pulleys  408  to respectively increase or decrease the tension of the track  412  that travels about the power pulleys  408  and the idler pulleys  410 . 
         [0080]    The power pulley  408  may be further configured to comprise one or more friction members  409  on the surface thereof, such as ridges or elevations on the outer surface of the power pulley that function to grip the interior surface of the track  412 . In this way, the friction members  409  of the power pulley  408  function to enhance the frictional contact between the power pulley  408  and the interior surface of the track  412 , such that the rotational movement of the power pulley  408  causes the track  412  to move tangentially in relation to the rotational movement of the power pulley  408  and to the idler pulleys  410 . The motor  402  and the gears  406  are configured to drive the track  412  in a clockwise or counterclockwise rotation about the power pulley  408 . The resulting rotation of the track  412  and the frictional contact of the track  412  when placed against the columnar object  120  results in the workstation  100  being configured, or otherwise adapted, to ascend or descend the columnar object  120 . Further, movement of the workstation  100  with respect to the columnar object  120 , i.e., upward or downward movement, is a result of the direction the track  412  is rotated. The configuration of the three drive system in a triangle formation causes the workstation  100  to automatically self-center on columnar objects  120 , even when the columnar object  120  may be oriented at any angle with respect to the surface from which the columnar object  120  extends. 
         [0081]    The enclosure panels  500  comprise durable and tough material to be reliable in service. The enclosure panels  500  are configured to keep debris out of the interior of tracked-climber  150  to protect the track  412 , the motor  402 , the gear set  404 , the power pulleys  408 , the idler pulley  410 , and any other interior component from prematurely wearing. The enclosure panels  500  further comprise mounting holes  504 , as shown, and bearing seats. The bearing seats are provided to accommodate idler pulleys  410 . The profile of the enclosure panels  500  and mounting holes  504  may be changed to permit different sizes and combinations of the tracked-climbers  150  or different sizes and combinations of the powered drive system  130 . 
         [0082]    As depicted in  FIG. 14 , embodiments of the workstation  100  include the adjustable suspension system  160 . The adjustable suspension system  160  comprises one or more adjustable linear actuators  604  that can be functionally coupled to the workstation  100  between the adjustable frame  140  and each of the tracked climbers  150 . Embodiments of the workstation  100  include the linear actuators  604  being, for example and not by way of limitation, a gas spring shock absorber, or other like shock absorber. The linear actuator  604  may be placed, respectively, between the upper and lower pairs of rails  602  on the tracked climber  150 , such that each tracked climber  150  is configured to have one or more linear actuator  604  paired with the upper pair of rails  602  and one or more linear actuator  604  paired with the lower pair of rails  602  to permit the tracked climber  150  to adjust to the contours of the columnar object  120 , as needed. In other words, the configuration and placement of the actuators  604  between the tracked climber  150  and the adjustable frame  140  permits the each linear actuator  604  to independently react to the varying contours and irregularities on the surface of the columnar object  120  to keep the respective track  412  of each tracked climber  150  in contact with the columnar object  120  as the workstation  100  ascends or descends the columnar object  120 . 
         [0083]    The adjustable suspension system  160  secures and manipulates each tracked-climber  150  of powered drive system  130  to accommodate for differences in contours on columnar object  120  while workstation apparatus  100  is ascending on the surface of columnar object  120 . As discussed herein, the required pressure is independently exerted on each of the actuators  604  positioned near the upper and lower pairs of rails  602 . Or, in other words, each of the actuators  604  exerts the required force and also reacts independently to the surface irregularities of the columnar object  120  to keep the respective track  412  against the columnar object  120  by providing the necessary force against the columnar object  120 . Specifically, the actuators  604  press the track  412  against the columnar object near portion  413  of the tracked-climber  150 . By configuring the tracked-climber  150  to have the linear actuators  604  positioned between the tracked-climber  150  and the frame  140 , each of the tracked-climbers  150  may adjust according to the contours of the columnar object  120 . In this way the contact angle and contact area (footprint) of track  412  on tracked-climbers  150  can self-adjust against the surface of the columnar object according to the varying contours of columnar object  120  to keep the portion  413  of the track  412  up against the columnar object  120 . Such frictional force exerted by linear actuators  604  on the tracked-climbers  150  causes the track  412  to press against the columnar object  120  to maintain the workstation  100  in a desired position against the object  120 . However, as described herein, the force exerted by the linear actuators  604  is not so great as to prevent the tracked-climbers  150  from adjusting in real time to the contours of the columnar object  120 . Indeed the linear actuators  604  are configured to move back and forth, in and out, to keep the track  412  of the tracked-climber  150  up against the surface of the columnar object  120 . Operation of the track  412  in either direction also causes the workstation  100  to ascend or descend the columnar object  120 . Also, the speed of rotation of the track  412  can be adjusted by adjusting the rotational speed of the power pulley  408  via the motor  402 , according to user  110  preference and/or preset limits supplied to the motor  402  via the wired or wireless control station operated by the user. 
         [0084]    Embodiments of the workstation  100  include a remote control  170  that may be manipulated by user  110  to control the operation of the workstation  100 . The remote control  170  may be wired or wireless. With regard to the adjustable suspension system  160 , the remote control  170  may be utilized to instruct the system  160  to immediately release, or otherwise retract, from the surface of the columnar object  120  to permit the workstation  100  to rapidly descend down the columnar object  120 , and in some cases to free fall from the columnar object  120 . Indeed, emergency, non-powered descents are possible with the workstation  100  by allowing the suspension system  160  to be released via the remote control  170 . 
         [0085]    Embodiments of the workstation  100  include one or more adjustable rotatable wheels  116 . As depicted, the workstation  100  may include one or more wheels  116  that swivel, one wheel  116  coupled to each corner of the frame  140 , as depicted in  FIG. 14 . The wheels  116  may be releasable, or otherwise detachable from the workstation  100  once the workstation  100  is secured to the columnar object  120  and may be recoupled to the workstation  100  when preparing to move the workstation to another location or to another columnar object  120 . Other suitable rotatable mechanisms such as casters may also be used. The wheels  116  may be adjusted vertically to level the workstation apparatus  100 , as well as provide a means to easily move and position the workstation apparatus  100  when on the ground  102 . 
         [0086]    Embodiments of the workstation  100  include a mounting surface  112  on adjustable frame  140 , as depicted in  FIG. 1 , adapted to secure at least one semi-robotic arm  106  which may further comprise at least one camera  108  mounted thereon. The camera(s)  108  may be configured to be wired or wireless. The camera  108  preferably uses virtual reality feedback, thus providing the user  110  the ability to position the robotic arm  106  in real-time. Each camera  108  may be configured to send the views to both a virtual reality type of head gear worn by the operator and also to a monitor mounted and sized appropriately to the operator&#39;s remote control station. 
         [0087]    The camera  108  can be used to allow user  110  to view and potentially visually record the work that is performed by the robotic arm  106 , in both semi-robotic and robotic states of the arm, because the operator directly controls the arm via wireless or wired remote control station with a joystick and/or other switches as various job applications require the direct control by the operator. 
         [0088]    Camera  108  may be wired or wireless, and camera  108  may be powered by on-board batteries  9  or through the wiring harness described herein. As mentioned herein, embodiments of the workstation  100  include brackets  149  on corner sections  145  that may be configured to receive and releasably couple thereto an arm base  107  that may be configured to receive and releasably couple thereto the semi-robotic arm  106 , as discussed herein. 
         [0089]    The semi-robotic arm  106  may be mounted on workstation apparatus  100 , as depicted in  FIGS. 1-3 and 15 . The semi-robotic arm  106  may be operated by the user  110  using a wired or wireless version of the remote control  170 . Additionally, at least one camera  108  may be operated in embodiments of the present disclosure and may be mounted to semi-robotic arm  106  using camera mounting bracket  308 , as depicted. The camera  108  can be used to allow the user  110  to view the work being performed by the camera  108  transmitting images and/or video in real time to a monitor or screen (not shown), such that the user  110  can view the images and/or video. The camera  108  can also visually record any work done by the semi-robotic arm  106  in real-time. Moreover, the camera  108  may also be configured to transmit digital data, either wirelessly or through wires, to a remote viewing device, such as a smart phone or other similar device, or to a hard drive or memory storage device positioned either on the workstation  100  or remotely therefrom. 
         [0090]    As depicted in  FIGS. 1-3, 15 and 16 , embodiments of the workstation  100  include the semi-robotic arm  106  being mounted to workstation apparatus  100 . As depicted in  FIG. 15 , embodiments of the workstation  100  include the arm  106  being releasably coupled to the workstation  100  through engagement of the arm base  107  with the bracket  149 . Embodiments of the workstation  100  include the arm base  107  further comprising a tube  103  and a tube casing  105 , the tube casing  105  being configured to slidably and rotationally engage the tube  103 . The tube  103  may be configured to be hollow and may also be configured to have sidewall openings  103   a  therein, to provide access to the hollow interior space of the tube  103 . The sidewall openings  103   a  may be on either side of the tube  103 , such that the tube  103  has several sidewall openings  103   a  therein, some of the sidewall openings  103   a  being on opposite sides of the tube  103 , whereas other sidewall openings  103   a  are arranged in parallel with one another along an axial length of the tube  103 . Similarly, the casing  105  may be configured to be hollow and may also be configured to have sidewall openings  105   a  therein, to provide access to the hollow interior space of the casing  105 . The sidewall openings  105   a  may be on either side of the casing  105 , such that the casing  105  has several sidewall openings  105   a  therein, some of the sidewall openings  105   a  being on opposite sides of the casing  105 , whereas other sidewall openings  105   a  are arranged in parallel with one another along an axial length of the tube  105 , as depicted in  FIG. 16 . Because the tube  103  and the casing  105  are hollow, components of the workstation  100  may be stored therein, such as, for example, and not by way of limitation, the on-board battery  9 , the air tank, the air compressor  7 , the computer system, and other workstation components. From this position within the arm base  107 , these components may functionally communicate with their respective components located on other portions of the workstation  100 , such as, for example, the air compressor  7  communicating through the air valve  141   d  and through the air line  141   c  with the frame expansion housing  142  and a corresponding frame expansion rod  143 , as described herein. Additionally, because the casing  105  is rotatable with respect to the tube  103 , the user  110  may rotate the casing  105  to align the sidewall openings  105   a  with the sidewall openings  103   a  of the tube  103  to access the interior of the tube  103  and the workstation components housed therein to repair, monitor, upgrade, and/or replace, as needed, these components. The tube  103  and the tube casing  105  may be manufactured of lightweight and sturdy materials, such as, for example, light-weight metals, plastics, and polymers, such as carbon fiber. 
         [0091]    Referring to  FIGS. 15 and 17 , embodiments of the workstation  100  include the arm  106  further comprising one or more appendages  390 , one or more joints  350 , the arm base  107  described herein, and a tool holder  312 . The appendages  390  may further comprise an inner tube member  392  and an outer casing  394  that may be configured to slidably engage the inner tube member  392 . Embodiments of the workstation  100  include the outer casing  394  completely covering the inner tube member  392 . The inner tube member  392  may be hollow to provide an interior space for housing therein wiring components, compressed air lines, and/or other components, including a rotation assembly  370  to be described herein. The inner tube member  392  may have sidewall openings  392   a  therein to provide access to the hollow interior. The inner tube member  392  and the outer casing  394  may be manufactured of lightweight and sturdy materials, such as, for example, light-weight metals, plastics, and polymers, such as carbon fiber. 
         [0092]    Referring still to  FIGS. 15 and 17 , embodiments of the workstation  100  include the joints  350  being configured between each consecutive appendage  390 , between the arm base  107  and an appendage  390 , and between an appendage  390  and the tool holder  312 . Each of the joints  350  may further comprise one or both of a pivot assembly  352  and a rotation assembly  370 . The pivot assembly  352  may be configured to provide pivoting motion to the joint  350 , whereas the rotation assembly  370  may be configured to provide rotational motion to the joint  350 . Each joint  350  may have one or more pivot assemblies  352  or one or more rotational assemblies  370 . 
         [0093]    As depicted in  FIG. 18 , embodiments of the workstation  100  may further comprise a pivot assembly  352 . The pivot assembly  352  may further comprise opposing braces  354  and  362  that may be configured to engage one another with the remaining pivot assembly  352  components housed therebetween. The braces  354  and  362  are releasably coupled to their respective appendages  390 , such that one appendage  390  is releasably coupled to the brace  354  and another appendage  390  is coupled to the brace  362 , as depicted in  FIG. 17 . 
         [0094]    Referring again to  FIG. 18 , the pivot assembly  352  may further comprise a bearing assembly  356 , a motor  358 , and gears  360 . The bearing assembly  356 , the motor  358 , and the gears  360  may be aligned along a common axis of rotation defined by a pin  364  that also functions to secure the pivot assembly  352  together. The bearing assembly  356 , the motor  358 , and the gears  360  may be configured about the axis defined by the axis of the pin  364 . The motor  358  may provide rotational motion to the pivot assembly  352  by way of the gears  360 . The motor  358  may be electrically powered, pneumatically powered, or hydraulically powered. As depicted, the motor  358  is a pneumatically powered motor that further comprises air vanes therein that are configured to receive compressed air and translate the flow of the compressed air into rotational force. This rotational force is then transferred to the gears  360 . Once the rotational motion provided by the motor  358 , whether electrically, pneumatically, or hydraulically produced, arrives at the gears  360 , the gears  360  transfer this rotational motion to one of the braces  354  or  362 , such that one of these braces  354  and  362  rotates with respect to the other to cause the joint  350  to pivot in a range of at least 180 degrees. The bearing assembly  356  functions to facilitate the rotation of the braces  354  and  362  with respect to one another. The bearing assembly  356  may comprise one or more thrust bearings  356   a  and a needle bearing configuration  356   b . One thrust bearing  356   a  may be positioned between the motor  358  and the gears  360 . Another thrust bearing  356   a  may be positioned between a plate  356   d  housed against the brace  354  and a cap  356   e  that is configured to cap the needle bearing  356   a  within a needle bearing housing  356   c  such that the needle bearing  356   a  resides within the needle bearing housing  356   c . The needle bearing  356   b  may communicate with the needle bearing housing  356   c  and the motor  358 . In certain embodiments, the needle bearing  356   b  may reside between the needle bearing housing  356   c  and the motor  358 . 
         [0095]    As depicted in  FIG. 19 , embodiments of the workstation  100  may further comprise a rotation assembly  370 . The rotation assembly  370  may further comprise a base  372 , a motor housing  374 , a motor  376 , and a planetary gear set  378 . The base  372  may be configured to releasably couple to the brace  362 . The base  372  may also be configured to engage the motor housing  374 . The motor housing  374  may be configured to house the motor  376 . The motor  376  may provide rotational force to the rotation assembly  370 . The motor  376  may be electrically powered, pneumatically powered, or hydraulically powered. As depicted, the motor  376  is a pneumatically powered motor that further comprises air vanes  377  therein that are configured to receive compressed air and translate the flow of the compressed air into rotational force. The resulting rotational force of the motor  376  is transferred to the planetary gear set  378  to drive the central gear  380 . The central gear  380  thereafter drives the outer gear  382  through the relationship of the outer gear  382  and the central gear  380  in the planetary gear set  378 . The outer gear  382  may be configured with bores  384  that are configured to correspond to the openings  396  in both the tube  392  and the casing  394 , such that the appendage  390  may be releasably coupled to the bores  384  of the outer gear  382 . Accordingly, as the outer gear  382  rotates with respect to the central gear  380  that is driven by the motor  376 , the appendage  390  likewise rotates. The central gear  380  may be configured to rotate at least 360 degrees in a clockwise or counterclockwise rotation, thus causing the outer gear  382  to rotate in a corresponding manner, in either a clockwise or counterclockwise rotation. In this way, each appendage  390  is configured to rotate through 360 degrees, as needed. 
         [0096]    Combining the pivoting rotation provided by the configuration of the pivot joint  352  and the rotational motion provided by the configuration of the rotation joint  370 , each joint  350  may provide pivoting motion of 180 degrees in either a clockwise or counterclockwise direction and may provide rotational motion through 360 degrees in either a clockwise or counterclockwise direction. Moreover, each rotation joint  370  and each pivot joint  352  of each joint  350  may be independently controlled by the user  110  via the control unit  8  and the controller  170 , such that the arm  106  may be positioned in any number of positions, configurations, and orientations. 
         [0097]    As depicted in  FIG. 20 , embodiments of the workstation  100  further comprise a tool holder  312 . The tool holder  312  may comprise an engagement member  316 , a safety lock mechanism  318 , and an access port  322 . The tool holder  312  may be configured to releasably and repeatedly couple thereto tools (not shown), such as, for example, saws, blades, shears, grippers, clippers, and other tools needed to trim, cut, or otherwise administer pruning to, tree limbs and other portions of trees. The tool holder  312  may comprise an engagement member  316  that may be configured to functionally engage the tools coupled to the tool holder  312 . In this way, the various tools that are to be coupled to the tool holder  312  may be engaged by the tool holder  312  via the engagement member  316 . As depicted, the engagement member  316  may be threads that correspond to threads on the tools to be attached to the tool holder  312 . 
         [0098]    Additionally, the tool holder  312  may further comprise a safety lock mechanism  318 . The safety lock mechanism  318  may be configured to receive pins (not shown) on the tools to be coupled to the tool holder  312 . The safety lock mechanism  318  may be configured to have a slit  319  in the sidewall of the tool holder  312 . The slit  319  may be configured to receive and functionally engage the corresponding pins of the tools to be coupled to the tool holder  312 . The safety lock mechanism  318  may serve as additional coupling of the tool to the tool holder  312 , in addition to the coupling of the tool to the tool holder  312  via the mechanical engagement of the engagement member  316 . The configuration of the tool holder  312  and the semi-robotic arm  106  permits the tool that is coupled to the tool holder  312  to reach into and access difficult spots, positions, angles, crevices, and other like parts of the columnar object  120 , to perform various tasks while in those spots, including, but not limited to, the tasks of pruning, shearing, clipping, etc. 
         [0099]    Additionally, the tool holder  312  may comprise an access port  322  that provides access for cables, electric cables, pneumatic air lines, and other power lines or communication lines through the tool holder  312  to power the tool. The tool that is to be coupled to the tool holder  312  may require power and/or communication with the control unit  8 , the compressor  7 , or the battery  9 , as needed, to function properly. These cables, lines, or other similar components may be fed from their respective sources, usually found in the arm base  107 , through the joints  350  and hollow appendages  390  of the arm  106  up through the tool holder  312  and to the tool. Moreover, these lines can communicate with any of the components of the arm  106  as these lines travel up to the tool in the tool holder  312 . For example, compressed air from the compressor  7  in the arm base  107  may be fed up through the appendages of the arm  106  to each of the joints  350  to drive the motors  358  and  376 , as well as drive the operation of the tool. Similarly, electrical wires from the on-board battery  9  may be fed in a similar manner to provide power to the joints  350 , if the motors  358  and  376  are electric motors, and to provide power to the camera  108  and the tool in the tool holder  312 . 
         [0100]    The semi-robotic arm  106  may further comprise the following components: sensors, dust seal(s), bearing(s), attachment sleeve(s), appropriate gearing, thrust bearing(s), motor(s), motor securing bracket(s) and other suitable parts to enable the semi-robotic arm  106  to rotate along a plurality of axis at its various joints. Sensors may be included within the joints  350  of the semi-robotic arm  106  to provide feedback of the position of each appendage  390  to the user  110 . It should be noted that the specific semi-robotic arm  106 , as shown and described in the present figure, is not intended to be limited to the various combinations, configurations and uses disclosed herein. It should be realized that other equivalent means to achieve the same purpose may be employed to perform the same or similar task(s). 
         [0101]    In accordance with the description herein, the workstation apparatus  100  is very versatile and may be used for assisting in tasks ranging from de-limbing of the tree  122  and/or working to service the utility wire  224  on the utility pole  222  or other such tall columnar objects  120  that may be difficult and dangerous to reach. In this way workstation apparatus  100  is designed to essentially remove the user  110  from the danger of working in hazardous environments such as next to the utility wires  224  and at dangerous heights above the ground  102 , thereby enabling the tasks to be performed from a safe distance. Workstation apparatus  100  may be used to readily perform a range of tasks from trimming or de-limbing as previously mentioned to disconnecting and/or reconnecting the utility wire  224  as shown in  FIGS. 1 and 2 . 
         [0102]    Referring to  FIG. 21 , a method of use  700  is depicted according to an embodiment of the workstation  100 . The method comprises unlocking the adjustable frame of workstation apparatus  701 ; placing workstation apparatus around columnar object  702 , as shown in  FIG. 1 ; fine-tune positioning workstation apparatus using rotatable wheels  703 . It should be noted that step  703  is an optional step and may not be implemented in all cases. Other optional steps of method  700  are also illustrated using dotted lines in  FIG. 21  so as to distinguish them from the other steps of method  700 . 
         [0103]    The method further comprises locking adjustable frame of workstation apparatus  704 . Such locking can occur by activating the compressor  7  to flow high pressure air into the adjustable rails  139  to fix the adjustable rails  139  in place, such that the adjustable frame  140  is fixed, or otherwise locked, into position. The method further comprises bringing the tracked-climbers of the powered drive system into contact with the columnar object  705 ; activating tracks of said track-climbers in a forward motion allowing workstation apparatus to ascend columnar object  706 ; locking workstation apparatus in place and performing the desired tasks on columnar object using semi-robotic arm and camera(s)  707 ; reversing power to the tracks to allow workstation apparatus to descend columnar object  708 ; unlocking adjustable frame  709 ; and removing workstation apparatus from around columnar object  710 . 
         [0104]    Additional or clarifying method steps include the following: placing the workstation apparatus around a columnar object, bringing tracked-climbers of a powered drive system into contact with the columnar object using a remote control, activating tracks of the tracked-climbers to control ascension and decent of the workstation with respect to the columnar object, and performing tasks on the columnar object. 
         [0105]    The method of use for the vertical climbing workstation apparatus  100  further includes, removing an adjustable rail from a frame of the workstation apparatus to place the workstation apparatus around the columnar object, replacing the adjustable rail in the frame after the workstation apparatus has been placed around the columnar object, adjusting the adjustable rail to expand or contract the frame, operating the tracked-climbers by remote control to control the ascension and decent of the workstation apparatus on the columnar object, performing tasks on the columnar object using a semi-robotic arm having a tool and a camera attached thereto, retracting the tracks from the columnar object to allow the workstation to descend rapidly from the columnar object, operating the tracked-climbers to control the descent of the columnar object until the columnar object reaches a ground surface, removing the adjustable rail to remove the workstation apparatus from around the columnar object, and removing the workstation from around the columnar object. Retracting the tracks from the columnar object may further comprise reducing the pressure of the actuators for a controlled descent along the columnar object, whereas in emergency situations the full depressurization of the actuators allows the workstation to freefall or rapidly descend the object to which it is attached. 
         [0106]    It should be noted that the steps described in the method of use can be carried out in many different orders according to user preference. Upon reading this specification, those with ordinary skill in the art will now appreciate that, under appropriate circumstances, considering such issues as design preference, user preferences, marketing preferences, cost, structural requirements, available materials, technological advances, etc., other methods of use arrangements such as, for example, different orders within above-mentioned list, elimination or addition of certain steps, including or excluding certain maintenance steps, etc., may suffice. 
         [0107]    While this disclosure has been described in conjunction with the specific embodiments outlined above, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, the preferred embodiments of the present disclosure as set forth above are intended to be illustrative, not limiting. Various changes may be made without departing from the spirit and scope of the present disclosure, as required by the following claims. The claims provide the scope of the coverage of the present disclosure and should not be limited to the specific examples provided herein.