Abstract
In this paper, we analyze a slip condition between a claw and hole on concrete wall and develop a small wall climbing robot with a grip mechanism by claws. A small robot has a great advantage for vertical wall climbing because of scale effect, i.e., the smaller the body size, the larger the ratio of muscle force for the body weight. Here we manufactured the simple grip mechanism with dimensions of 81×81×45 mm^3 and weight of 8g. The analysis result showed the maximum grain angle of 36deg that the robot did not slip on the vertical wall with holes and the experimental result on the vertical concrete wall achieved the payload of 43 g (520%) for a single grip mechanism. Moreover, the developed robot consisting of two grip mechanisms realized passive adhesion on the vertical concrete wall.
