Development of a semi self-contained wall climbing robot with scanning type suction cups

Abstract

A semi self-contained wall climbing robot with scanning type suction cups is developed and rested. This robot has two vacuum pumps on it. The robot is connected to the equipment on the ground only through the electric power cables and information cables. From the experimental results, the robot can walk around on walls, clear steps, and stick on cracks and gaps. The walking speed attains 138 cm/min, which is 59% faster than the wall climbing robot I with tubes connected to the external vacuum pump on the ground. These experimental results show higher possibility towards the development of a complete self-contained wall climbing robot by putting a battery and a CPU on the robot.