Design of a Miniature Tri-Axis Vertical Wall Structure Climbing Robot using Electroadhesion

Tong, WJ; Chin, CS; Lin, W

doi:10.1109/ICIEA.2014.6931210

Design of a Miniature Tri-Axis Vertical Wall Structure Climbing Robot using Electroadhesion

Lookup NU author(s): Professor Cheng Chin, Weipeng Lin

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Abstract

Miniature robots have the ability to mimic motion of animals such as walking, rolling, climbing, jumping and flying techniques. The micro-robots are used mainly to manipulate objects, survey areas that are inaccessible, risky to operators such as building or offshore structure for cracks and damage. In this paper, a robot with climbing ability is designed and built for vertical structure inspection which requires moving on corners. The proposed robot using an electro-adhesion method is able to transit from floor to vertical wall while performing wall-climbing. In-house built electroadhesive for the climbing robot is tested and has shown some good results in adhesion during the tests.