Design and Development of Semi-Autonomous Wall Climbing Robot Mechanism

摘要

The purpose of this research paper is to present a wall climbing robot mechanism which can be easily scaled up and applied in various fields like, search and rescue, surveillance etc. The objective is to make a four wheeled robot which can climb and manoeuver surfaces at any inclination be it perpendicular, acute or obtuse. This robot will be made by adding two upward and downward thrusters to a four wheeled robot. On approaching an inclination, the sensor mounted in the center of the robot will calculate the angle of inclination autonomously. The amount of upward thrust required to lift the front wheels of the robot is calculated and the ESCs ensures that the required thrust is generated by the propeller in the necessary angle. Thus, the front wheels have a greater area of contact on the wall and therefore can help it climb up. The motors will be connected to a beam which is connected to two servo motors on either side, thus allowing us to control the angle at which the motor is fixed, the angle is autonomously calculated by the robot, thus enabling the mechanism to manoeuver terrains with inclinations of any magnitude. This mechanism is semi-autonomous in the sense that the operator has to manually control the robots movement but the propeller set up autonomously aligns itself based on the inclination of the wall.