Modular wall climbing robots with transition capability

This paper introduces two wall climbing robots based on different adhesive mechanisms: vortex attraction technique and the vacuum rotor package. The robots adopt modular design with each module can move on various smooth/rough surfaces independently while a combination of two modules can achieve wall-to-wall transition. Detailed description of the novel mechanical and electrical design is presented. Simulation is conducted to reveal aerodynamic behavior of the adhesive mechanism. Several robot prototypes are built to verify the design concepts. Future directions to improve the climbing robots are elaborated