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wall climbing

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Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material
Hongkai Li, Xianfei Sun, Zishuo Chen, Lei Zhang, Hongchao Wang, Xing Wu
Journal:

Robotica / Volume 40 / Issue 3 / March 2022

Published online by Cambridge University Press:

09 June 2021, pp. 611-624
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Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.