DESIGN & DEVELOP THE PROTOTYPE OF WALL CLIMBING ROBOT

Abstract

In this paper the main aim is to develop the prototype of wall climbing robot with the
centrifugal impeller based adhesion system and four wheeled locomotion system which can move over
the vertical wall surfaces as well as ceiling surfaces. Centrifugal impeller creates the low pressure
vacuum and adhere the robot on the wall surfaces without any perfect sealing. Four wheeled locomotion
system requires stability and weight distribution equally on each wheel. Equally weight distribution on
each wheel gives proper traction over the vertical wall surfaces as well as ceiling surfaces. Stability of
four wheeled wall climbing robot requires dynamic analysis for that reaction forces on each wheel,
centrifugal forces and gyroscopic effect is analyzed. Actual prototype model is developed and tested
experimentally on the wall & ceiling surfaces with the help of centrifugal impeller type adhesion system
and four wheeled locomotion system.