Abstract
This paper reports on the development of an attachment mechanism that utilizes electrostatic force and differential pressure force for wall climbing robots. The mechanism, electrostatic suction film, consists of a pair of electrodes and an insulating film. Holding force of a prototype suction film was investigated. The results showed that differential pressure force, as well as electrostatic attraction force, increases at higher applied voltages. It was also shown that the suction film can generate holding force against a holed wall. A prototype wall-climbing robot was developed using electrostatic suction films that could stably climb up an insulated conductive wall.
