Design of a double-propellers wall-climbing robot

Abstract

Wall-climbing robot is one of the most interesting robot because it can be used in several useful application such as inspection of high buildings, wall and mirror cleaning, surveillance and military operations. Propellers type wall-climbing robot is designed in this research. Behavior of this robot can be understood by observing its mathematical model. Aerodynamics of the propeller and robot dynamics model are obtained by using the momentum conservation and blade element theory and Euler-Lagrange equation and combined to reveal the robot mathematical model. The real climbing robot is manufactured by different materials and several methods in order to get very light weight robot. Robot consists of two propellers and four free wheels. Experiments are conducted in this research in order to check the robot performance. By using the actuating thrust and change of rotor system angle, the robot can climb the desired surface and have ability to move itself back to the climbing surface when the robot starts to fall out of the wall.