Abstract
Work at high places are dangerous for human. Various types of wall climbing robots with adhesion device have been studied. Some of them use passive adsorption devices that are lightweighted and need no energy supply from outside. But adsorption force of passive adsorption devices depend heavily on surface shape and condition. We have developed new suction cups for wall climbing robots. Our previous works show that the suction cups adsorb on walls which have the surface roughness very different from cup size. We propose new adsorption devices consisting of integrated micro suction cups in several sizes, which show good adaptability to surface shape and roughness. The prototypes show successfully good shape adaptability. We have confirmed that new suction cups adsorb on surface with roughness and height of bump.
