Abstract
Problem statement: The problem of a wall climbing robot is holding on the wall. This is challenge for researchers. There are many factors, which effect in holding, all forces, robot movement and mechanical design. Approach: This study proposed movement step design for wall-climbing robot. In design the robot use pneumatic system as main unit to move on the wall. The robot can move in four directions, forward, backward, left and right. Results: We analyzed force acting with the wall that the wall should have only slope from 0° (parallel with the ground) to 90° (vertical line). At equilibrium condition, we expressed all forces in equilibrium by sum all forces that equal zero. Conclusion: We can choose parameter to improve the climbing efficiency that the robot can climb much slope. For the first way, we can change the wall material to increase μs and for the second way, we can improve vacuum force by means of increasing pneumatic system efficiency.
Highlights
Nowadays, Pneumatic systems use pressurized gases to transmit and control power
Pneumatic systems use air that is exhausted directly into the surrounding environment so this reason is important for selection this system driving the robot (Collie et al, 1990)
The vacuum force is exerted by pressure difference between atmosphere pressure and inside vacuum cup pressure
Summary
Pneumatic systems use pressurized gases to transmit and control power. There are several reasons for considering the use of pneumatic system instead of other systems. Pneumatic systems use air that is exhausted directly into the surrounding environment so this reason is important for selection this system driving the robot (Collie et al, 1990). Computer or microprocessor is used to construct control algorithms, but the challenge task is how to communicate between PC or microcontroller and the robot. This is a motive to learn and develop innovation algorithms in order to control robot
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