Design of a scalable wall climbing robot for inter-plane traversing

Abstract

This paper describes a new concept of scalable wall-climbing robot which integrates wheeled locomotion and Vacuum adhesion mechanism. The robot consists of two modules connected by an active joint. The joint is equipped with a motor, which can drive the joint to the desired direction. The robot also adopts a balance tail to avoid rolling over. These mechanisms enable the robot to make transition between walls. The mechanical analysis and kinematic calculation based on the proposed concept are presented. The robotic device will have a wide range of industrial applications, such as inspection in narrow duct, bridge, and storage tank.