A mechanism for moving over obstacles on a wall for the wall-climbing vehicles of wheel-drive type

点击翻译按钮获取中文摘要

A wall-driving robot was developed in 1994 in our laboratory, and it could move on a vertical wall by using thrust force of two propellers and wheels. This model was easily controlled on a flat wall, but was difficult to use on an irregular wall. To solve this problem, the mechanism of wall-climbing of this type was simulated on a computer, and particular attention was paid to maneuverability in the movement of this robot. A test model is manufactured and the experiments confirm that the model can move on an irregular wall by using a computer-aided control system.