Mechanism and Kinematics of a Novel Climbing Robot

This paper presents a novel climbing robot mechanism.Its configuration and structure characteristics are introduced and the forward and inverse kinematics equations are derived.Three locomotion modes are presented,i.e.moving forward,turning and transmitting orthogonal planes.Analysis on the configuration and locomotion modes shows that this mechanism has a small volume and good motion performance.Simulation results prove that the robot needs less suction moments and motion space during locomotion.