Wall-climbing robot with mechanically synchronized gait

This paper presents a wall-climbing robot for inspection and glass cleaning of high rise building application. A novel quadruped mechanism is proposed, which is composed of a combination of a four-bar and slider crank mechanism with vacuum adhesion module. Adhesion feedback system with intelligent gripping ensures adhesion between vacuum cup and the graspable surface. The climbing motion is analyzed. A prototype of the wall-climbing robot with compact size and low power consumption has been developed and performance tests have been conducted. The experimental results demonstrate that the wall-climbing robot has characteristics such as excellent stability, good weight carrying capacity and no complex control logic.