A miniature multi-joint wall-climbing robot based on new Vibration Suction Robotic Foot

Vibration suction method (VSM) is a new kind of suction strategy for wall-climbing robot. The first vibration suction robotic foot (VSRF) was built and tested to verify the applicability of VSM in former works. But the suction capability, safety, and wall adaptability of the first VSRF are not enough. A new generation of VSRF was designed, fabricated and tested. Experiment results show that the new robotic foot performs better than the former design. A miniature multi-joint wall-climbing robot was designed and implemented based on the new VSRF. Kinematics analysis and gait planning of the robot were made. Experiments proved that this robot can finish three kinds of walking function: walking in straight line, turning and making face-to-face transfer successfully.