Climbing robots intended for inspection of large vertical surfaces in the hazardous environment and for reconnaissance in urban environment need to have sufficient mobility to demonstrate their horizontal and vertical surface climbing abilities for travel on exterior and interior surfaces of buildings and other structures. This paper describes the design, modeling, simulation and implementation of a pneumatically actuated, compact and modular wall-climbing mobile robot. The robot posses multiple suckers and realizes virtually continuous omni-directional movement with suitable working efficiency. The developed robot constitutes two moving frames (inner and outer frames) synchronized to generate the required linear movement. Rotation movement can be generated at the center of robot through proper rotary mechanism. Smooth movement is achieved by synchronizing the activation the proper groups of the sucking cups and actuators. The main body of the robot is able to carry the controller, actuating the pneumatic elements, and sensors supporting real-time interaction and navigation requirements. Design requirements, suction cup structures, analysis of the simulation results and safety are presented.
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