Abstract
Wall and ceiling robots have been studied for being applied to cleaning, inspection, rescue and so on. For expanding applications of climbing robots, their weight capacity will become one of bottle-necks. We focus on the active friction force, which in this paper we define as a friction force exerted by actuators such as motors. The friction force increases proportionally with the reaction force which is normal to the surface. By exerting a force by actuators, we can expect to increase weight capacity. This paper presents development of a device for gripping an uneven surface of a wall or a ceiling by friction forces for climbing robots. This mechanism includes passive restoring forces exerted by rubbers having a large friction coefficient and active friction forces.
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