Development of a Wall Climbing Robot

Abstract

Problem statement: The problem of a wall climbing robot is holding on the wall. This is challenge for researchers. There are many factors, which effect in holding, all forces, robot movement and mechanical design. Approach: This study proposed movement step design for wall-climbing robot. In design the robot use pneumatic system as main unit to move on the wall. The robot can move in four directions, forward, backward, left and right. Results: We analyzed force acting with the wall that the wall should have only slope from 0° (parallel with the ground) to 90° (vertical line). At equilibrium condition, we expressed all forces in equilibrium by sum all forces that equal zero. Conclusion: We can choose parameter to improve the climbing efficiency that the robot can climb much slope. For the first way, we can change the wall material to increase μ_s and for the second way, we can improve vacuum force by means of increasing pneumatic system efficiency.