Design of a Modular Wall-Climbing Robot with Multi-Plane Transition and Cleaning Capabilities
Abstract
1. Introduction
- A modular design is realized with multiple modules connected by servo motors and magnets. Each module has the same structure and composition, and they can be connected in series with each other and realize mutual lifting. The modules can be quickly assembled and disassembled, enhancing flexibility and simplifying maintenance work.
- The combination of servo motors and ultrasonic sensors is introduced for wall-angle measurement, allowing the robot to autonomously adapt to different wall planes. This new detection method is computationally fast and has a simple detection structure, which makes it suitable for low-cost confined-space use.
- The mechanical theory analysis of the robot was carried out under a variety of attachment conditions to calculate the required minimum suction force, which is verified by experiments.
2. Design of the MC-1 Robot
2.1. Components and Electrical System Architecture
2.2. Main Mechanisms of MC-1
3. Working Principle and Analysis of MC-1 Robot
3.1. Static Mechanical Analysis
3.2. FEA Simulation Study
3.3. Detection of Wall Inclination Angle
4. Experimental Results
4.1. Testing Result of Suction Force
4.2. Testing Result of Loading Capacity
4.3. Testing Result of Wall-Climbing Speed
4.4. Testing Result of Plane-Transition Speed
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Data Availability Statement
Conflicts of Interest
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l | h | ||||
221 mm | 141 mm | 110 mm | 80 mm | 111 mm | 73.5 mm |
b | d | ||||
27.1 mm | 280 mm | 234.4 mm | 74 mm | 20 mm | 20 mm |
Angle (°) | Mean (N) | Standard Deviation | Maximum (N) | Minimum (N) |
---|---|---|---|---|
0 | 37.01 | 0.37 | 37.63 | 36.47 |
90 | 34.11 | 0.28 | 34.52 | 33.65 |
Angle (°) | 0 | 10 | 20 | 30 | 40 |
Vertical (N) | |||||
Horizontal (N) | |||||
Angle (°) | 50 | 60 | 70 | 80 | 90 |
Vertical (N) | |||||
Horizontal (N) |
Angle (°) | 0 | 15 | 30 | 45 |
Speed (cm/s) | ||||
Angle (°) | 60 | 75 | 90 | – |
Speed (cm/s) | – |
Angle (°) | 0 | 15 | 30 | 45 | 60 | 75 | 90 |
Transition time (s) | 0 | ||||||
Coefficient of Variation (%) | 0 | 2.8 | 3.0 | 2.4 | 3.6 | 4.6 | 2.0 |
Specifications | This Work (MC-1) | R-Track [15] | Modular Robot [21] | Mantis [22] | Tank-Like Robot [23] | ROMERIN [24] |
---|---|---|---|---|---|---|
Adhesion | Negative pressure | Magnetic adhesion | Negative pressure | Negative pressure | Flat elastomer | Negative pressure |
Locomotion | Rubber track | Magnetic track | Legged | Rubber track | Rubber track | Legged |
Mass (g) | 1350 | 2750 | 47 | 8000 | 180 | 2026 |
Modular | Yes | Yes | Yes | Yes | Yes | Yes |
Wall-transition Speed (cm/s) | 2.020 | – | 0.056 | – | 6 | – |
Loading (N) | 32.24 | – | 15 | – | 5 | 77.4 |
Plane types | Smooth planes | Magnetism surfaces | Smooth planes | Smooth planes | Dry surfaces | Smooth planes |
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Wang, B.; Zhang, W.; Luo, J.; Xu, Q. Design of a Modular Wall-Climbing Robot with Multi-Plane Transition and Cleaning Capabilities. Biomimetics 2025, 10, 450. https://doi.org/10.3390/biomimetics10070450
Wang B, Zhang W, Luo J, Xu Q. Design of a Modular Wall-Climbing Robot with Multi-Plane Transition and Cleaning Capabilities. Biomimetics. 2025; 10(7):450. https://doi.org/10.3390/biomimetics10070450
Chicago/Turabian StyleWang, Boyu, Weijian Zhang, Jianghan Luo, and Qingsong Xu. 2025. "Design of a Modular Wall-Climbing Robot with Multi-Plane Transition and Cleaning Capabilities" Biomimetics 10, no. 7: 450. https://doi.org/10.3390/biomimetics10070450
APA StyleWang, B., Zhang, W., Luo, J., & Xu, Q. (2025). Design of a Modular Wall-Climbing Robot with Multi-Plane Transition and Cleaning Capabilities. Biomimetics, 10(7), 450. https://doi.org/10.3390/biomimetics10070450