Modelling and Realization of Pneumatics based Wall Climbing Robot for Inspection Applications

摘要

Climbing robots are highly in need for catering the inspection of the high rise buildings. Climbing Robots has to work in challenging environments and has to maneuver vertically against gravity and orient towards the specified target by adapting to various surfaces. The proposed Wall Climbing Robot weighs 1 Kg , works with four active suction cups and driven with pneumatic supply cylinder drive assembly. The robot moves by absolute holding of two suction cups at any instance and remaining two cups are allowed free to enable forward movement of the robot. The robot consists of vacuum generator, suction cup, pneumatic driven traverse assembly, controller and wireless high resolution camera. The designed robot is highly suitable for the continuous monitoring and inspection of high rise buildings. The vacuum generator is externally positioned and suction is derived through pneumatic supply hose. The developed robot climbs on the vertical wall at a velocity of 1.5 cm/s. Keyword -Wall climbing robot, suction cup, smooth surface, pneumatic operation, programmable logic controller