Design and development of a wall climbing robot and its control system
The Robot, named as TRAIN WALL BOT, is designed to navigate on smooth vertical surfaces with the capability to avoid obstacles and overcome if the height is about 1 cm. The design is inspired from train steel wheel movement that contains two actuated legs with rotary motion provided by a DC motor. T...
| Main Authors: | , , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/4898/ http://irep.iium.edu.my/4898/1/Wall_Climbing_Robot.pdf |
| _version_ | 1848776412553543680 |
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| author | Akhtaruzzaman, Md. Samsuddin, Nurul Izzati Umar, Norsofiana Rahman , Md Mozasser |
| author_facet | Akhtaruzzaman, Md. Samsuddin, Nurul Izzati Umar, Norsofiana Rahman , Md Mozasser |
| author_sort | Akhtaruzzaman, Md. |
| building | IIUM Repository |
| collection | Online Access |
| description | The Robot, named as TRAIN WALL BOT, is designed to navigate on smooth vertical surfaces with the capability to avoid obstacles and overcome if the height is about 1 cm. The design is inspired from train steel wheel movement that contains two actuated legs with rotary motion provided by a DC motor. The Robot uses pneumatic system and the suction force is supplied by an air compressor that turns on intermittently. The suction force ensures the attachment ofthe robot with the wall by using 3 vacuum valves and 6 vacuum pads. The robot is controlled using PIC I6F877A. Two limit switches are used to acknowledge the contact with its navigating surface. Vacuum suction is controlled based on the ON OFF priority ofthe limit switches. Though the design is quiet simple but it is capable to walk, climb vertical
smooth surfaces and avoid obstacles. Forward and backward movements are also faster, smoother and more stable (because ofthe coupling design) than other existing wall climbing Robots. In this paper, various aspects of prototype design and development of the Climbing Robot are conveyed including the body, leg, feet design and gait dynamics. |
| first_indexed | 2025-11-14T14:29:41Z |
| format | Proceeding Paper |
| id | iium-4898 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:29:41Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-48982012-05-23T01:52:32Z http://irep.iium.edu.my/4898/ Design and development of a wall climbing robot and its control system Akhtaruzzaman, Md. Samsuddin, Nurul Izzati Umar, Norsofiana Rahman , Md Mozasser TK Electrical engineering. Electronics Nuclear engineering The Robot, named as TRAIN WALL BOT, is designed to navigate on smooth vertical surfaces with the capability to avoid obstacles and overcome if the height is about 1 cm. The design is inspired from train steel wheel movement that contains two actuated legs with rotary motion provided by a DC motor. The Robot uses pneumatic system and the suction force is supplied by an air compressor that turns on intermittently. The suction force ensures the attachment ofthe robot with the wall by using 3 vacuum valves and 6 vacuum pads. The robot is controlled using PIC I6F877A. Two limit switches are used to acknowledge the contact with its navigating surface. Vacuum suction is controlled based on the ON OFF priority ofthe limit switches. Though the design is quiet simple but it is capable to walk, climb vertical smooth surfaces and avoid obstacles. Forward and backward movements are also faster, smoother and more stable (because ofthe coupling design) than other existing wall climbing Robots. In this paper, various aspects of prototype design and development of the Climbing Robot are conveyed including the body, leg, feet design and gait dynamics. 2009 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/4898/1/Wall_Climbing_Robot.pdf Akhtaruzzaman, Md. and Samsuddin, Nurul Izzati and Umar, Norsofiana and Rahman , Md Mozasser (2009) Design and development of a wall climbing robot and its control system. In: 12th International Conference on Computer and Information Technology (ICCIT 2009), 21-23 December, 2009, Dhaka, Bangladesh. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5407120 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Akhtaruzzaman, Md. Samsuddin, Nurul Izzati Umar, Norsofiana Rahman , Md Mozasser Design and development of a wall climbing robot and its control system |
| title | Design and development of a wall climbing robot and its control system |
| title_full | Design and development of a wall climbing robot and its control system |
| title_fullStr | Design and development of a wall climbing robot and its control system |
| title_full_unstemmed | Design and development of a wall climbing robot and its control system |
| title_short | Design and development of a wall climbing robot and its control system |
| title_sort | design and development of a wall climbing robot and its control system |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://irep.iium.edu.my/4898/ http://irep.iium.edu.my/4898/ http://irep.iium.edu.my/4898/1/Wall_Climbing_Robot.pdf |