Rahman, Md. Mozasser
(2010)
Wall climbing robot.
In: IIUM Research, Innovation & Invention Exhibition (IRIIE 2010), 26 - 27 January 2010, Kuala Lumpur.
Abstract
The Robot, named as TRAIN WALL BOT, is designed which has the ability to navigate on smooth
vertical surfaces with the capability to avoid obstacles and overcome it if the height of the obstacles is
about 1cm. The design is inspired from train steel wheel movement which uses two actuated legs with
rotary motion supplied from the motor. The Robot uses pneumatic system and the suction force is
supplied by an air compressor that will turn on intermittently. The sucking system force controls the
attachment of the robot to the wall by using 3 vacuum valves and 6 vacuum pads (2 vacuum pads on each
leg, and 2 vacuum pads below the body). The robot is controlled using PIC16F877A. The main body of
the robot carries the motor and important electronic components. Two limit switches are used to
acknowledge the contact with its navigating surface, one is attached with one leg and other is attested
with the body part. Vacuum suction is controlled based on the ON OFF priority of the limit switch. IR
distance sensor detects obstacles which are higher than 1cm. The simple design of the Robot ensures the
capability to walk, climb vertically up to 85º and 90º slope smooth surfaces and avoid obstacles. It has the
advantages of faster forward and backward movements which is smooth and more stable (because of the coupling design)than other existing wall climbing Robots.
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