The pin-lock based moving mechanism of wall climbing robot for the Reconfigurable Intelligent Space

In this paper, we introduce the latest prototype MoMo for the R+iSpace. The R+iSpace denotes `Reconfigurable Intelligent Space´, and it can solve the problem of device´s spatial constraint that the conventional iSpace has. The R+iSpace employs the mobile module (MoMo) to solve the problem. The MoMo is a kind of wall climbing robot, and the device is mounted on the MoMo. Thus, the R+iSpace can solve the problem by the rearranging of devices with MoMos. The previous MoMos use the screw-nut mechanism to stick on the fields that are the modified walls and ceilings for the MoMo´s movement. This mechanism was employed to eliminate the energy consumption while the MoMo maintains current posture. However, the previous prototype MoMos have a problem of the moving speed and the stability of motion. The latest prototype MoMo employs a pin-lock mechanism to stick on the fields. This mechanism makes the mechanical structure simply. To verify that the latest prototype MoMo satisfies necessary conditions of the R+iSpace, two experiments were performed. In this paper, the mechanical structure of latest prototype MoMo and the results of the experiments are described in detail.