Modeling method for wall-climbing robot based on grasping claws

Wall-climbing robots have already been found extensive applications nowadays. However, there are still no good adhesion methods available for rough concrete buildings at the action of high-altitude wind loads and vibration. Therefore, an initial design of the wall-climbing robot based on grasping claw is presented and a climbing model is proposed in this paper. The mathematical model which reflects the relations between sharp hook and the micro-protuberance on the rough wall surface is established. Then the stress on the hooked claws is analyzed under three different conditions, so the steady grasping condition of the hooked claws is obtained. At last, the system outline and field implement scheme are given.