On Maximal Weight Moment and Overturn Tendency of Multi-Sucker Wall-Climbing Mechanism

摘要

For a multi-legged robot climbing on a vertical wall, how to increase its anti-overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on-line gait programming and safety monitoring system. In the paper, after investigating the indeterminate statics of an insect-like six-legged wall-climb- ing mechanism in various support patterns, the authors obtained the analytical expressions of maximal weight mo- ment with respect to different support patterns, and the overturn tendency while payload was increased.