This paper introduced a centrifugal impeller-based wall-climbing robot with the μCOS-II System. Firstly, the climber's basic configurations of mechanical were described. Secondly, the mechanic analyses of walking mechanism was presented, which was essential to the suction device design. Thirdly, the control system including the PC remote control system and the STM32 master slave system was designed. Finally, an experiment was conducted to test the performance of negative pressure generating system and general abilities of wall-climbing robot.
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