The main restriction facing wall climbing robots WCRs during travelling is the adaptation to specific type of surfaces. In general, the applications of climbing robots have been grown with their ability to deal with various surfaces. Motivated by this realization, this paper presents an innovative design of propeller-type climbing robot, where it can work on different types of surfaces. Also this work includes a comprehensive survey of propeller-type wall climbing PRWCR, where the robots of related works are analyzed in order to provide the required background to evaluate the major advantages and shortcomings of the current work. The proposed robot has two ground navigation modes; these modes supported two different ground-wall transitioning scenarios. To overcome the limitation on power source, the mission life was extended by proposing perching mechanism. The real climbing robot is manufactured, and the experiments are conducted in this research in order to check the robot performance.
The tendency of developing wheeled mobile robots in different applications is growing every day. During the past decades, the need for robots capable for climbing vertical wall has been increased. As a result of that, this paper presents a light and low cost wall climbing robot WCR of wheeled locomotion and adopted neodymium magnets to provide adhesion force. This climbing system is intended to be used for educational and research purposes. The mechanical and electrical constructions are presented. The proposed design has the ability to achieve ground-wall transitioning. In order to provide sufficient information about robot mass properties, novel mechanisms to determine the coordinates of the center of mass COM and moment of inertia MOI of the proposed climbing robot have been introduced. In addition, the vision system was suggested to provide feedback signal of robot pose (position and orienting). Finally, to evaluate the performance of the robot design, a prototype was built and tested in the laboratory environment.
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