Design and Analysis of a Wall-Climbing Robot Based on a Mechanism Utilizing Hook-Like Claws Regular Paper

摘要

Wall-climbing robots have extensive applications, however, no effective adhesion system has been designed for robots deployed in high-altitude, rough concrete buildings that are subjected to large wind loads and vibrations. This paper proposes a new suction method based on a mechanism utilizing hook-like claws and presents the design of a robot system for inspecting rough concrete walls. We present a method for describing the degree of concrete surface roughness. To study the stress imposed on the hook-like claws, we propose two types of mechanical models for the interactions between sharp claws and microprotuberances. The design method for the tips of the sharp claws is then established. Finally, an 8-foot wall-climbing robot based on a mechanism utilizing hook-like claws is designed and laboratory experiments on a man-made concrete wall are conducted. The results indicate that the low-cost system endows the robot with enhanced climbing stability and satisfies the inspection requirements for tower constructed by water brush stone or bricks.