Initial design and analysis of a rough concrete building-climbing robot based on biomimetic grip claws

Biomimetic building-climbing robots have been applied extensively; however, no suitable sticking mechanism was found for robots climbed on high-altitude, rough concrete walls that are subjected to large vibrations. This manuscript presents a new sticking method based on the mechanism of biomimetic grip claws and presents the design of a robot for detecting rough concrete buildings. To study the forces imposed on the biomimetic claws, two types of mechanical models for the interactions between grip claws and micro embossments are proposed. The design method for the tips of the grip claws is then deduced. Finally, an eight-foot building-climbing robot based on the mechanism of the grip claws is designed, and the experimental results show that the robot with enhanced climbing stability can satisfy the demands of rough dynamic concrete building detection.