This research developed a mobile wall climbing robot prototype using 4 DC motors as its driver and a suction tube. It can avoid obstacles. This robot uses Arduino Mega 2560 as its controller board. The robot's weight is 747 grams. The suction tube produces a suction force of 7.815N capable of holding the robot load in a stall vertical position using 12V of voltage. The robot able to crawl down and horizontal, but still can not climb vertically. The robot is able to receive a command of motion manually from a 2.4GHz wireless joystick. In automatic mode, the robot can avoid obstacles using the HC-SR04 proximity sensor. This research also shows the relationship between suction force and the given voltage of DC brushless motor and its throttle value.
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机译：本研究开发了一种使用4个DC电动机作为其驱动器和吸管的移动壁攀爬机器人原型。它可以避免障碍。该机器人使用Arduino Mega 2560作为其控制器板。机器人的重量为747克。吸管产生7.815N的抽吸力，其能够使用12V电压将机器人负载保持在失速垂直位置。机器人能够爬行和水平，但仍然不能垂直爬升。机器人能够从2.4GHz无线操纵杆手动接收运动的命令。在自动模式下，机器人可以避免使用HC-SR04接近传感器的障碍物。该研究还示出了抽吸力与DC无刷电动机的给定电压与其节流值之间的关系。
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