Wall Climbing Robot Enabled by a Novel and Robust Vibration Suction TechnologyQingfeng Hongand Rong Liu Hao Yang and Xudong ZhaiRobotics InstituteRobotics InstituteBeijing University of Aeronautics and AstronauticsBeijing University of Aeronautics and AstronauticsBeijing, People’s Republic of ChinaBeijing, People’s Republic of China[email protected], [email protected][email protected], [email protected]Abstract-Vibration Suction Method (VSM) is a novel suction strategy for wall climbing robot. Regular vibration can improve the suction cup’s adsorption capacity. Through the study of the first Vibration Suction Robotic Foot (VSRFⅠ) the applicability of VSM was verified while the suction capability, safety, and wall adaptability of it was not well enough. Based on these, a new Vibration Suction Robotic Foot (VSRFⅡ) was designed, fabricated and tested. Experiment results showed that the VSRF Ⅱperforms better than the former design. A mini multi-joint wall climbing robot was designed and fabricated based on the VSRFⅡ. Gait planning for three kinds of typical walking movements: walking in straight line, turning, and face-to-face transfer were made. The experiment results verified the feasibility of the robot and it can walk from the ground to the wall, crawl and turn on the wall and then walk from the wall to the ceiling. Index Terms - vibration suction, robotic foot, climbing mechanism, wall climbing robot, gait planning. I.INTRODUCTIONFor a wall climbing robot, how to make it adsorb stably on the wall is the most important issue. Generally, the suction methods used in the wall climbing robot can be divided into five classes: electromagnetic force, adhesive material, molecular force, electrostatic attraction and negative pressure. Application of electromagnetic adsorption is limited on the ferromagnetic surface . Suction using molecular force or electrostatic has good adaptability on all kinds of surfaces, but the former technology is not mature enough for practical use and the latter costs a long time to build the induced charge to form the adsorption. By now, suction cup using negative pressure is the most widely used method in wall climbing robot, however, application of this adsorption method needs larger and heavier structure . Vibration Suction Method (VSM) is a novel negative pressure suction strategy. Negative pressure is created and strengthened through the vibration of the suction cup. This suction method has advantages such as small energy consumption, low noise, high suction stability, etc. Former researches focused mainly on the mechanism of VSM and a mathematical model was built. The correctness of the model was testified through experiments . The first generation of vibration suction robotic foot (VSRFⅠ) was built and tested to verify the applicability of VSM, as shown in Fig.1. The VSRFⅠmeasures 120mm×120mm×35mm in size and weights 240 grams . The suction capability, safety, and wall adaptability of the VSRFⅠwas not enough for good performance of a mini multi-joint wall climbing robot.