Analysis of modular biped wall climbing robot with high mobility and effective transit mechanism

Abstract

Model and analysis of a wall climbing robot based on the link and suction mechanism. Many wall climbing robots are designed and shaped for few decades, but still, the underlying problems for the wall climbing are faced by the designers. Wall-climbing robots consist of a two mechanism, one is link and other is suction mechanism. In link mechanism there are two joints I-joint and T-joint, Where I-joint can rotate about its axis, T-joint can rotate about 180, Both the joints give the ability to rotate in clockwise and anticlockwise direction, which helps the robot to have a good transient mechanism between the horizontal wall to vertical wall. Based on these link mechanisms static and dynamic analysis were carried out to find the stress and strain developed in the joint during the motion. To achieve the suction mechanism, suction cups are placed on the suction base in a triangle shape and three suction cups are employed. Based on the weight of the robot load distribution is calculated. Both the static and dynamic analysis is performed using the software Ansys R15 and Inventry15.