Wheeled wall climbing robot with suction chamber: A study on forces and moments for stability

摘要

Abstract Wall climbing robots (WCRs) are those that have the capacity to move against gravity and reach out to places where it is difficult for human access. For example, cleaning the inner surfaces of hot boilers in industries, painting highly raised buildings etc. In order to carry out these works, the WCRs must move over rough vertical walls. It is possible that, the WCR might tip over due to the uneven nature of the wall. The forces and moments acting upon the WCR while climbing a vertical wall have huge impact over the stability. Apart from rough surfaces, the WCRs might encounter few obstacles. The forces and magnitudes must aid the WCRs surpass these obstacles as well as rough surfaces and climb over the wall and ceiling. This paper studies the various forces and moments acting on the WCRs while climbing a vertical wall. Mathematical insight about the changes in forces and moments to maintain stability for various cases such as WCRs with payload, with two or more suction chambers, with many suction chambers with payload are discussed in detail.