A NEW MECHANISM FOR WALL CLIMBING OPERATION BASED ON 4-BAR LINKAGE

摘要

Wall walking robots are designed for different purposes, rescue operations, wall inspections and jobs such as painting and cleaning and fire fighting for tall buildings. These are some cases that these types of robots are extensively used. This paper describes a design of a new serial mechanism for wall climbing job. In deed we are seeking to define a minimum degree of freedom mechanism to be applied in a robot moving vertically on a surface. This mechanism has 5 links , but at any point it works with its 4 links, actually in each cycle of motion the linkage will be interchanged.