受動吸盤を用いた壁面移動ロボットの可搬能力の向上

抄録

Inspection, maintenance and cleaning of tall buildings are indispensable. However, they are dangerous for workers, thus, wall-climbing robots are attracting attentions. We developed a wall-climbing robot with passive suction cups which can save energy to keep attachment. However, the robustness for attachment and transportable load are not discussed in our previous research. In order to resolve this problem, new wall-climbing robot with passive suction cups is proposed. The robot has a passive suction cup mechanism that can attach on the wall again when passive suction cup has peeled off form the wall. Then, transportable load of proposed robot is analyzed. Finally, this research conduct experiments to verify the robot performance of transportation.