Аналіз проблем створення технологічних роботів вертикального переміщення

摘要

Problems of creating of the technological wall-climbing robots are described, especially ways to bring them in motion, attachment types and calculation method for steady attachment conditions. Technological wall-climbing robots are one of the mobile robots types that able to move on vertical and sloping surfaces, ceiling of rooms, etc.General scheme of technological wall-climbing robots described. Described method of calculation of the steady attachment and no slip conditions, based on simplified model.Described 4 types of locomotion: discrete steps, continuous steps, tracked or wheeled, zoomorphic. Features of each of this types of locomotion are described.Reviewed 5 technologies of attachment robot to the surface: vacuum, magnetic, dry adhesion, gripping and electroadhesion. Advantages and disadvantages of this technologies are discussed.