Development of a Climbing Robot Based on Multi-suction Cups Mounted on Timing Belt Mechanism

摘要

Climbing robot requires adhesion mechanism for holding the robot on to the surface and locomotion mechanism for moving the robot along the wall surface in order to perform various tasks such as glass facade cleaning and remote surface inspection of civil structures. Pneumatic adhesion force control has a prominent role for safe locomotion of the climbing robot. In case of insufficient adhesion force or airflow leakage, the robot may not work properly while carrying payload such as cleaning device, multiple sensors, and power systems, etc. Actuation and de-actuation (open and close modes) of adhesion force control of multi-suction cups based on the traditional design restricts its application particularly in climbing on wall structures where the weight and electrical power have a major concern. In the present study, pneumatic adhesion mechanism based on flat suction cup has been chosen for its performance characteristics analysis, while operation under rough and smooth wall surface conditions. Based on these experimental investigations and stability analysis, pneumatic adhesion and timing belt mechanisms for simultaneous operations of adhesion and locomotion have been developed. The developed concept for multi-suction cup-based timing belt mechanism is implemented in a mobile robot for climbing on a vertical/inclined wall surface. The manufacturing trials for simultaneous locomotion and adhesion required for surface climbing have also been conducted under static and dynamic situations.