A Wall-Climbing Robot Using Propulsive Force of Propeller : Mechanism and Control System in a Strong Wind

摘要

In the previous report, the mechanism of a wall-inspection robot which is capable of moving in a weak wind on a vertical wall was investigated. For emergency use of a wall-climbing robot, such as in rescue, and fire-fighting, the robot must be able to move in strong and turbulent winds at any time. Therefore, the control system for large wind load is important. A combined control system consisting of a thrust force controller, a frictional force augmentor and a damper is used, and its performance is estimated by a computer simulation technique. The safety of the robot is ascertained for an actual turbulent and strong wind gust.