Modeling and Analysis of a Biped-Wheel Wall-climbing Robot Mechanism

A novel wall-climbing robot mechanism is presented based on planetary gear train movement and biped vacuum suction principle.Its configuration and structure characteristics are introduced and kinematics equations are derived.Three locomotion modes of moving straight,turning in plane and traversing cross-wall are described respectively.Simulation results prove that the mechanism has such features as rapid moving speed,excellent maneuverability and strong ability of traversing cross-wall.