Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 14, 2022 - March 15, 2022
This paper describes a wall-climbing robot inspired by insects, which can move on a smooth slope and ceiling using surface tension. The adhesion mechanism of the robot is based on the system of ants, where the vertical force is the meniscus force and the horizontal force is the frictional force of rubber. In order to use the meniscus force during moving on the slope and ceiling. we installed two pieces of adhesion pads made of glass. One was installed in front of the robot and the other was installed under the axis of the wheel. The weight of the robot was 11.2g, Since the measured the maximum withstanding weight of one adhesion pad was 30g, we believed that the adhesion pad can support the weight of the robot. The robot moves by dragging the adhesion pad using its wheels. The experimenter results shown that the robot can successfully move 150 mm, 270 mm, 105 mm, 60 mm, and 100 mm as the angle of the slope is 60°, 70°, 80°, 90°, 180°, respectively.
