Design and Modeling of a Novel Mobile Wall-Climbing Robot with a Long-span Foldable Mechanical Arm*

In order to provide more possibilities for replacing manual work in perilous high-altitude building operations, A novel mobile wall-climbing robot is developed in this paper, named ClimBot-I. This robot is equipped with a lightweight, foldable, long-span mechanical arm that enables a wide range of functions. A highly reliable adsorption device with the design of a cyclone suction cup based on the Bernoulli principle is proposed. The dynamic modeling of the whole wall-climbing robot accompanying manipulator is completed. Through no-load and load experiments of the robot, the excellent adaptability for various wall surfaces and the ability to achieve stable adhesion are shown. The execute prescribed maneuvers on smooth substrates such as plastered walls are demonstrated. The robot can carry more than 3.6 kg with the manipulator on board and can move freely on the wall, which illustrate its broad application prospects.