A Locomotion Mechanism for a Mobile Wall-Climbing Robot with a Hybrid Magnetic-Tape Adhesion Method

Abstract

In the present study, a new hybrid passive adhesion method for a mobile wall-climbing robot (WCR) is proposed. This method is based on a combination of magnetic and glue adhesion. For its implementation, a flexible magnetic tape with glue on one side is used to fasten the tape to the working surface. Holding and climbing of the WCR on the magnetic tape, fixed by the robot in the process of movement, occurs with the help of the tracked locomotion mechanism. Permanent magnets are placed in the tracks of the WCR interacting with the tape as the robot climbs along a vertical surface. The concept of the adhesion and locomotion mechanisms, as well as the design of the WCR prototype is developed. Experimental studies of the magnetic properties of the proposed locomotion mechanism have been carried out. They showed its feasibility and efficiency. Also from experimental studies were obtained quantitative characteristics of the interaction of the WCR with tape, used in the construction of its mathematical model. A feature of this WCR concept, working on the magnetic-tape adhesion, is the possibility of moving it without using magnetic tape on ho rizontal surfaces, as well as on vertical ferromagnetic surfaces — only with tracks with permanent magnets. The WCR with a hybrid magnetic-tape adhesion mechanism is designed to move on various surfaces indoor spaces.