Novel Wall-Climbing Robot Capable of Transitioning and Perching
Saif K. Mahmood, Sadeq H. Bakhy, Mouwafak A. Tawfik
Abstract
Abstract The main restriction facing wall climbing robots WCRs during travelling is the adaptation to specific type of surfaces. In general, the applications of climbing robots have been grown with their ability to deal with various surfaces. Motivated by this realization, this paper presents an innovative design of propeller-type climbing robot, where it can work on different types of surfaces. Also this work includes a comprehensive survey of propeller-type wall climbing PRWCR, where the robots of related works are analyzed in order to provide the required background to evaluate the major advantages and shortcomings of the current work. The proposed robot has two ground navigation modes; these modes supported two different ground-wall transitioning scenarios. To overcome the limitation on power source, the mission life was extended by proposing perching mechanism. The real climbing robot is manufactured, and the experiments are conducted in this research in order to check the robot performance.