Portable Mobile Robot with a Vertical Locomotion Capability
(Caterpillar Robot of Vertical Locomotion)

Author: Anatoliy Ulyanov

Project annotation:

The device capable to move along vertical surfaces has been developed. It is manufactured as a caterpillar mechanism where each track is outfitted with a suction cup. With the help of available switchgear the suckers are vacuumized opportunely and hold the robot on the surface; suckers cavities that detach from the surface are contacting with the atmosphere. Additional unit constantly presses the robot's case towards the surface. An operating prototype has been created by now. The robot can carry additional equipment along the vertical surface of equal weight. It is possible to implement this robot for the motion of video cameras and measuring devices in places which are not accessible to people The device can clean, paint, rectify defects at a large height, to deliver rescue aids or equipment for the neutralization of hazardous objects. Absence of electric rigs allows it to operate under conditions of abnormal electromagnetic or irradiation environment.

The article about the development was published in the "Expert" magazine, № 11, 18.03.02.

The matter of the proposed development: The locomotion unit is designed as a caterpillar mechanism where each track is outfitted with a suction cup. With the help of available switchgear the suckers attached to the surface are vacuumized opportunely and hold the robot on the surface; suckers cavities that detach from the surface are contacting with the atmosphere. Vacuumization is provided by means of the ejection on account of air supply from the external compressor. Additional unit steadily presses the robot's case towards the surface. The robot can carry additional equipment along the vertical surface of equal weight.

The imposed pictures show the caterpillar robot moving along the vertical surface. One can see the suckers sequentially attaching to the surface; an engine; and the screw-gear. There are no other control mechanisms except kinematical connection between the drive wheel and the switch gear shaft. It enhances operational features of the robot, makes it more reliable, lowers its weight, absolutely eliminates electronic control system, provides for low cost and possibility to manufacture it in a machine workshop.

Technical features of the prototype:

1. Dimensions: 450И200И200 mm.
2. Weight:6,5 kg.
3. Air consumption: 6-8 m3/hour.
4. Pullout force from the horizontal surface: 14 kg.
5. Dependence between the speed and power, fed to the engine:
   
   
6. Speed 0.3 m/min with the load of 5,5 kg and power of 25 Watt.
7. Surface: rolled steel, painted brick-wall.

Today the technical features of the device are not optimal. It is possible to reduce the weight in two times if other materials and engine will be used. The degree of efficiency could be sufficiently increased on account of design simplification and incorporation of the engine with optimal features. Besides, the robot's design could be easily subjected to scaling in order to get needed size.

Field of Application:

1. Examination of hazardous or suspicious objects, inspection, observation, diagnostics and measurements of the environment in places that are hard-to-reach (inaccessible) or dangerous for human health and life.
2. Repair works, defects elimination, cleaning, painting, delivery of materials and tools at inaccessible or dangerous objects.
3. Manufacturing of toys: remote control land rovers.

Competitive Advantages:

To date the main competitive advantages of these development that provide for successful competition with similar devices are as follows:

1. Complex of unique technical features, including a capability to move along vertical surfaces.
2. Low cost in comparison with its analogs. We estimate it approximately in 10-100 times lower (without taking the cost of assembled equipment - service load - into consideration).
3. High reliability, simple design, high stability during operation under high radioactive and electromagnetic fields.
4. Technological effectiveness, lack of precision parts, lack of high-class surfaces processing, lack of specific materials.
5. Low costs if the customer requires adaptation.