Wheeled wall climbing robot with suction chamber: A study on forces and moments for stability

Abstract

Wall climbing robots (WCRs) are those that have the capacity to move against gravity and reach out to places where it is difficult for human access. For example, cleaning the inner surfaces of hot boilers in industries, painting highly raised buildings etc. In order to carry out these works, the WCRs must move over rough vertical walls. It is possible that, the WCR might tip over due to the uneven nature of the wall. The forces and moments acting upon the WCR while climbing a vertical wall have huge impact over the stability. Apart from rough surfaces, the WCRs might encounter few obstacles. The forces and magnitudes must aid the WCRs surpass these obstacles as well as rough surfaces and climb over the wall and ceiling. This paper studies the various forces and moments acting on the WCRs while climbing a vertical wall. Mathematical insight about the changes in forces and moments to maintain stability for various cases such as WCRs with payload, with two or more suction chambers, with many suction chambers with payload are discussed in detail.

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

“…However, the surface of the cargo hold is very large, which limits the scope of manual cleaning and causes some dead zones that cannot be cleaned. The limited ability of wall-climbing robots to cross barriers reduces the range of applications [3,4]. In addition, under the influence of ship swaying, workers and wall-climbing robots may face the risk of falling when working at high places, which seriously threatens the safety of the operation.…”