JRM Vol.23 No.6 pp. 1055-1065
doi: 10.20965/jrm.2011.p1055


Passively Adaptable Wall Climbing Robot in Narrow Space

Anna Ariga, Tomoyuki Yamaguchi, and Shuji Hashimoto

Department of Applied Physics, Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan

April 20, 2011
August 8, 2011
December 20, 2011
wall-climbing robot, pantograph structure, spring mechanism, passive support
This paper presents a novel wall climbing robot for a narrow space that is not accessible for humans, such as a sewer pipe and small gaps between buildings. The proposed robot consists of two driving parts and a pantograph between them that generates a pushing force against the walls to prevent the robot from falling down. Two different kinds of springs are installed on the pantograph in order to provide certain amount of the pushing force. The proposed mechanism can passively adapt to the changes in the interwall distance with a constant pushing force to achieve a smooth movement. The experimental results show that the proposed robot can work reliably and safely in different types of narrow spaces between walls.
Cite this article as:
A. Ariga, T. Yamaguchi, and S. Hashimoto, “Passively Adaptable Wall Climbing Robot in Narrow Space,” J. Robot. Mechatron., Vol.23 No.6, pp. 1055-1065, 2011.
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