Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments to replace human workers. Climbing speed, payload capacity, the ability to overcome obstacles, and wall-to-wall transitioning are significant characteristics of climbing robots. Here, multi linked track wheel type climbing robots are proposed to enhance these characteristics. The method of surface attachment is different for each robot and application, and the characteristics of the joints between links are designed as active or passive according to the requirement of a given robot. Conceptual design, practical design, and control issues of such climbing robot types are reported, and a proper choice of the attachment methods and joint type is essential for the successful multi link track wheel-type climbing robot for different surface materials, robot size, and computational costs.
Fig 1. Configuration of three types of multi-linked caterpillar track
Fig 2. Configuration and video of MultiTrack
Fig 3. Configuration and video of Combot
Fig 4. Configuration of FCR
Updated on Jan 18, 2018