A wall climbing robot using propulsive force of propeller

A robot capable of moving on a vertical wall of high-rise buildings can be used for rescue, wall inspection, fire fighting, etc.. A wall climbing robot using thrust force of propellers has been developed. The thrust force is inclined a little to the wall side to produce the frictional force between the wheels and wall surface. As the strong wind is predicted on the wall surface of buildings, the direction of thrust force is controlled to compensate the wind force acting on the robot. A frictional force augmentor is also considered, which is an airfoil to produce the lift force directed to the wall side by the cross wind. Its effect is tested in the wind tunnel. The overall performance of the robot is examined by computer simulation and a model was constructed and tested on the wall.<>