Design of an adhesion-based wall climbing Robot

摘要

This work has detailed various aspects of adhesion and leg design for multiple degrees of freedom and freedom of movement in numerous directions pertaining to a wall climbing robot. Suction adhesion, attraction, surface grip, thrust, and living body-inspired adhesion are the five basic types of adhesion concepts reported in the literature. Furthermore, we reviewed the influence of all these bonding mechanisms on several aspects such as mobility, stability, infrastructure demands, and perception by drawing concrete situations from the literature. The design of the robot's leg is modeled in software to determine the best design for moving the robot in the required directions. This is done to allow the robot to be used for a variety of applications that demand freedom of movement in any direction.