Climbing Robot Modelling Based on Grab Claws

Though the wall-climbing robots have be used extensively, however, no effective adhesion system has been designed for robots deployed in high-altitude, rough concrete buildings that are subjected to large wind loads and vibrations. Therefore, an initial design of a wall-climbing robot based on grab claw is presented and a climbing model is proposed in the paper. The mathematical model is established to reflect the relations between sharp hook and the micro-protuberance on the rough wall surface The stress on the hook-like claws is analyzed under three different conditions, so the steady grasping condition of the hook-like claws is obtained. Simulation results are carried out which demonstrates the stability of the grasping. Finally, the system outline and field implement scheme are presented. Streszczenie. W artykule przedstawiono projekt wspinającego sie robota, opartego na chwytaku w postaci pazura. Zaproponowano takze matematyczny model wspinania, pozwalający określic wplyw mikro-fald na powierzchni pionowej na mozliwośc chwytania hakiem. Przeanalizowano mozliwości obciązenia haka w trzech roznych warunkach pracy. Przeprowadzono badania symulacyjne i eksperymentalne w celu weryfikacji modelu. (Modelowanie wspinającego sie robota z chwytającymi pazurami).