Fundamental Study on a Wall-Climbing Robot

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Fundamental Study on a Wall-Climbing Robot Kiichi Ikeda, Taketoshi Nozaki, Saburo Shimada, Yoshio Tajima Pages 449-458 (1988 Proceedings of the 5th ISARC, Tokyo, Japan, ISSN 2413-5844) Abstract: There is a great need for the development of a robot to perform painting and cleaning of high-rise buildings and tanks to perform painting and cleaning of high-rise buildings and tanks and similar dangerous tasks. The Mechanical Engineering Laboratory has been developing a wall-climbing robot (MEL-SPIDER) which can adhere to rough finished wall using vacuum suction cups and can move up and down as well as to the right and left. Two prototypes were studied : a separate type (MSII) and a self contained type(MSIII). For the separate type, the power / control unit was set on the ground separated from the main mobile unit. Power and control signals were supplied to the main mobile unit by pneumatic tubes and electric cables. The MS I I has eight legs and each leg terminates with a vacuum suction cup

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