Development of wall climbing robotic system for inspection purpose

摘要

In this paper, we introduce a wall climbing robotic system for visual inspection of man-made structures. The adhesion mechanism of our system consists of an impeller and two-layer suction seals which provide sufficient adhesion forces for supporting the robot body on the non-smooth vertical wall and horizontal ceiling by generating pressure difference between the inside of the pressure chamber and the ambient environment. A comprehensive study is performed on the dynamic fluid modeling of the adhesion mechanism and the adhesion force is controlled by adjusting the pressure inside of the chamber. In addition, stable differential-driving locomotion on non-smooth surface are achieved by adapting a suspension mechanism for each wheel. A wall climbing robot, called LARVA, is successfully developed and its effectiveness of locomotion is verified with experiments on non-smooth vertical wall and horizontal ceiling surface.