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Department Of Electronic Engineering

Group Members Jawad Ahmad 2053-FET/BSEE/F13 Numan Bahar 2051-FET/BSEE/F13

Email : jawad.bsee2053@iiu.edu.pk

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Design of a Wall-Climbing Robot with Passive Suction Cups

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Wall climbing robot

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Abstractwall-climbing robot which adopts passive

suction cups as the attaching components .

With the help of one motor robot will move on a wall .

Due to suction cups robot will not consume extra energy .

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12cm long and 34 g in weight and driven by single degree-of-freedom linkage legs .

The robot traveled on the ground at a velocity of 2.7 cm/s.

The robot climbed on the vertical wall at a velocity of 2.2 cm/s .

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Introduction

It is extremely difficult and dangerous for humans to work on a wall .

Tasks such as cleaning and inspecting vertical surfaces are unavoidable .

In order to realize automation of these works, wall-climbing robots have been widely studied in robotics.

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wall-climbing robot include two functions , “attachment” and “locomotion” parts.

There are two methods of attachment 1) Active Methods 2) Passive Methods Both have advantages and disadvantages but

in suction type robot , passive method is used because of less energy consumption and having light weight .

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wall-climbing robot different parts

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Robot Model

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Overview The robot has six legs assembled by a four-

bar linkage mechanism.

L means the body length.

The diameter of the suction cup is set to L/6 to

avoid collision between the force and suction cups.

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Adhesion mechanism by the suction cup The robot adheres to the wall by the negative pressure of the suction cup. The maximum

adhesion force, Fmax, by three suction cups is provided by

Fmax=3µπ(d/2)^2PoϫV µ is the friction coefficient d is the diameter P0 is the atmospheric pressure per unit area V is the ratio between the inner ϫ volumes of

the initial and deformed suction cups

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Attachment and detachment mechanisms

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The swinging leg touches the wall. Here, it does not yet exert the adhesion force .

The swinging leg pushes the suction cup toward the wall.

The leg is supported by the adhesion force of the suction cup.

The suction cup is peeled from the wall by pulling

the string connected to the edge. Then the leg becomes the swinging leg.

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An example of vertical wall climbing

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Traveling velocities

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Conclusions we developed a small legged wall climbing

robot using passive suction cups. The proposed attachment and detachment

mechanism makes not only the robot small but also simplifies the control.

The leg trajectory by the four-bar linkage mechanism is designed by a genetic algorithm and generates stable locomotion.

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The result showed that the robot traveled on the ground at a velocity of 2.7 cm/s and

climbed on the vertical wall at a velocity of 2.1 cm/s.