Wall climbing robot

2014

WALL CLIMBING ROBOT
A PROJECT REPORT
Submitted
I n partial fulfillment for the award of the degree
Of
BACHELOR OF TECHNOLOGY
IN
MECHANICAL ENGINEERING

Under The Guidance of Submitted by
Ms Kirti Singh Kartik Arora(11011595)
Assistant Professor Sahil Johri(11113770)
Avinash Kr. Rai(11006690)
Gajendra Kr. Nag(11004799)
Parveen Thakur(11001921)
LOVELY PROFESSIONAL UNIVERSITY
Phagwara-144401, Punjab (India)

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ACKNOWLEDGEMENT



I would like to place on record my deep sense of gratitude to Er. Kirti Singh,our Mentor for the
her generous guidance, help and useful suggestions.

I express my sincere gratitude to Mr. Ravinder Singh, Machining operatios guide for his
stimulating guidance, and continuous encouragement .

I am extremely thankful to Prof Gurpreet Singh Phull, HOD, Lovely Professional University
Jalandhar, for valuable suggestions and encouragement .

I am also thankful to my colleagues, family and friend for there continuous encouragement and
support in every possible way















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TABLE OF CONTENTS

Chapter 1 Introduction 1
Chapter 2 Tech Rationale And Problem Statement 2
Chapter 3 Components
3.1 Aluminium Strip 3
3.2 Nut And Bolt 3
3.3 DC Servomotors 5
3.3.1 Mechanism 5
3.3.2 Control 6
3.3.3 Servomotors vs Steppermotors 6
3.4 Solenoid 7
3.5 Relays 9
3.5.1 Basic Design and Operation 10
3.5.2 Applications 11
3.6 Suction Cups 11
3.6.1 Calculations 12
3.6.2 Uses 13
3.7 Hose Pipes 13
3.7.1 Applications 13
3.8 Pneumatic Cylinder 15
3.8.1 Operation 16
3.8.2 Specialized functions 16
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3.8.3 Fail safe mechanism 16
3.8.4 Types 16
3.8.5 Single Acting Cylinder 16
3.8.6 Double Acting Cylinder 17
3.8.7 Other Types 17
3.8.8 Sizes 18
3.9 Compressor 18
3.9.1 Types Of Air Compressor 18
3.9.2 Positive Displacement 18
3.9.3 Negative Displacement 19
3.9.4 Cooling 19
3.9.5 Applications 19
3.10 Battery 20
3.10.1 Principle of operation 21
3.11 Switches 21
Chapter 4 Processes Used
4.1 Soldering 24
4.1.1 Solder 24
4.1.2 Flux 25
4.1.3 Electronic Components 25
4.1.4 Tools 26
4.2 Drilling 26
4.2.1 Processes 27
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4.2.2 Drill 28
4.2.3 Types 28
4.3 Filing 29
4.3.1 Band Filing 29
4.3.2 Reciprocating Filing 29
4.4 Cutting 29
Chapter 5 Work Plan And Flow Chart
5.1 Work Timeline 30
5.2 Flow Chart 31
Chapter 6 Experimental Work Done 33
6.1 Main Cost 35
Chapter 7 Features Of Wall Climbing Robot 36
Chapter 8 Result
8.1 Uses Of Wall Climbing Robot 37
8.2 Drawbacks 38
Chapter 9 Conclusion And Future Scope 39
Refrences
Bibliography





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LIST OF FIGURES



Figure 1- Aluminium Strips Page 3
Figure 2- DC Servomotor Page 6
Figure 3- Solenoid valve Page 8
Figure 4- Relay Page 10
Figure 5- Hose Pipe Page 14
Figure 6- Pneumatic Cylinder Page 15
Figure 7- Single Acting Cylinder Page 17
Figure 8- Double Acting Cylinder Page 17
Figure 9- Compressor Page 19
Figure 10- Battery Page 21
Figure 11- Switches Page 23
Figure 12- Soldering Tool Page 24










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LIST OF TABLES AND FLOWCHARTS


Table 1- Work Plan Page 30
Table 2- Cost Of Parts Page 35



Flowchart 1-Processes Involved Page 31-32














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CHAPTER 1
INTRODUCTION
The main goal for our semester project was to construct a wall climbing robot, which would
be controlled using switches and act according to users will. There are two kind of wall-
climbing robots in the lab. One is called "Flipper" the other is called "Crawler". The restrictions
such as small size, light weight and low power consumption must be complied when designing
the miniature robot. Robots have been created to assist or replace humans in various dangerous
and difficult tasks. Robots have been used in construction, manufacturing, security and etc. This
is because they are able to adapt to different environments and situations. They have conquered
nearly all environments that humans have put them through. Climbing robots can be used on
artificial surfaces like a wall, or on natural surfaces like trees or cave walls. They are desirable
for several applications such as search and rescue. This phenomenon is still a challenge to be
achieved using robotic devices. Climbing robots should have some practical utility to deal with
different surfaces and geometries. This can be achieved by the use of special purpose attachment
devices such as magnets or suction.
Initially we had to figure out what every element did, and to get them to work. The main
components of the climber were the switches , solenoids, pneumatic cylinders, compressor and a
power supply. Throughout the semester we first got every individual component of the climber
to work, and tested the functionality. We also re soldered much of the internal circuitry of the
climber, in order to cut down total amount of wires. We added a two way switch so that the
movements of the robotic arms be modified according to the need. In the end we had made a
climber which was controlled using switches , and pneumatic cylinders actuations.




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CHAPTER 2
TECH RATIONALE AND PROBLEM STATEMENT
A wall climbing robot can have many uses. Our robot specifically is useful for going into an
area and being able to view the area without having any humans entering the potentially
dangerous area. The uses of this for military applications are obvious, to send a robot into a
potentially dangerous area to see if there are any enemy soldiers or bombs without endangering
soldiers lives. Another potential use would be to send the robot into areas a human couldnt
physically go like a crawl space or cave of some kind and gather data. Technically the robot is
rather simple, as there are three servomotors, two pneumatic cylinders , two suction cups and
few circuits. One potential downfall is that the robot needs a relatively smooth surface to either
traverse or climb, but in principal the robot shows the ability to gain information remotely. Also
we would have to conduct experiments to see the distance able for the robot to be controlled and
also to send information back to the user.
The main problem faced during the project was of the length and weight of robot. If we
could have been able to reduce the length of the links automatically we would have cut down on
weight also. The suction pressure inside the cups can be increased and decreased which will help
in making us climb heavier bots






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CHAPTER 3
COMPONENTS
3.1 Aluminium Strip
Aluminium is a chemical element in the boron group with symbol Al and atomic number 13.
It is a silvery white, soft, ductile metal. Aluminium is the third most abundant
element (after oxygen and silicon), and the most abundant metal, in the Earth's crust. It makes up
about 8% by weight of the Earth's solid surface. Aluminium metal is so chemically reactive that
native specimens are rare and limited to extreme reducing environments. Instead, it is found
combined in over 270 different minerals. The chief ore of aluminium is bauxite.
Length of strips used:
1. Link 1 = Link 4 = 14.8cm
2. Link 2 = Link 3 =17.6cm
3. Total Length = 64.8cm = 0.648m


Figure 1 Aluminium Strips
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3.2 Nut And Bolt
A screw, or bolt, is a type of fastener characterized by a helical ridge, known as an external
thread or just thread, wrapped around a cylinder. Some screw threads are designed to mate with a
complementary thread, known as an internal thread, often in the form of a nut or an object that
has the internal thread formed into it. Other screw threads are designed to cut a helical groove in
a softer material as the screw is inserted. The most common uses of screws are to hold objects
together and to position objects. A screw will almost always have a head, (a set screw is an
example of a screw without a head) which is a specially formed section on one end of the screw
that allows it to be turned, or driven. Common tools for driving screws include screw drivers
and wrenches. The head is usually larger than the body of the screw, which keeps the screw from
being driven deeper than the length of the screw and to provide a bearing surface. There are
exceptions; for instance, carriage bolts have a domed head that is not designed to be driven; set
screws often have a head smaller than the outer diameter of the screw; J-bolts have a J-shaped
head which is not designed to be driven, but rather is usually sunk into concrete allowing it to be
used as an anchor bolt. The cylindrical portion of the screw from the underside of the head to the
tip is known as the shank; it may be fully threaded or partially threaded. The distance between
each thread is called the "pitch".
The majority of screws are tightened by clockwise rotation, which is termed a right-hand
thread; a common mnemonic device for remembering this when working with screws or bolts is
"righty-tighty, lefty-loosey." Screws with left-hand threads are used in exceptional cases. For
example, when the screw will be subject to counterclockwise torque (which would work to undo
a right-hand thread), a left-hand-threaded screw would be an appropriate choice. The left
side pedal of a bicycle has a left-hand thread.
More generally, screw may mean any helical device, such as a clamp, a micrometer, a ship's
propeller or an Archimedes' screw water pump
A nut is a type of fastener with a threaded hole. Nuts are almost always used opposite a
mating bolt to fasten a stack of parts together. The two partners are kept together by a
combination of their threads' friction, a slight stretch of the bolt, and compression of the parts. In
applications where vibration or rotation may work a nut loose, various locking mechanisms may
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be employed: Adhesives, safety pins orlockwire, nylon inserts, or slightly oval-shaped threads.
The most common shape is hexagonal, for similar reasons as the bolt head - 6 sides give a good
granularity of angles for a tool to approach from (good in tight spots), but more (and smaller)
corners would be vulnerable to being rounded off. Other specialized shapes exist for certain
needs, such as wing nuts for finger adjustment and captive nuts for inaccessible areas.Nuts are
graded with strength ratings compatible with their respective bolts; for example, an ISO property
class 10 nut will be able to support the bolt proof strength load of an ISO property class 10.9 bolt
without stripping. Likewise, an SAE class 5 nut can support the proof load of an SAE class 5
bolt, and so on.
A wide variety of nuts exists, from household hardware versions to specialized industry-specific
designs that are engineered to meet various technical standards.
1. Number of Nuts Used = 37
2. Number of Bolts Used = 20
3.3 DC Servomotors
A servomotor is a rotary actuator that allows for precise control of angular position, velocity
and acceleration. It consists of a suitable motor coupled to a sensor for position feedback. It
also requires a relatively sophisticated controller, often a dedicated module designed
specifically for use with servomotors. Servomotors are not a specific class of motor although
the term servomotor is often used to refer to a motor suitable for use in a closed-loop control
system.
Servomotors are used in applications such as robotics, CNC machinery or automated
manufacturing.
3.3.1 Mechanisms
As the name suggests, a servomotor is a servomechanism. More specifically, it is a closed-
loop servomechanism that uses position feedback to control its motion and final position. The
input to its control is some signal, either analogue or digital, representing the position
commanded for the output shaft. The motor is paired with some type of encoder to provide
position and speed feedback. In the simplest case, only the position is measured. The measured
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position of the output is compared to the command position, the external input to the controller.
If the output position differs from that required, an error signal is generated which then causes
the motor to rotate in either direction, as needed to bring the output shaft to the appropriate
position. As the positions approach, the error signal reduces to zero and the motor stops.
The very simplest servomotors use position-only sensing via a potentiometer and bang-bang
control of their motor; the motor always rotates at full speed (or is stopped). This type of
servomotor is not widely used in industrial motion control, but it forms the basis of the simple
and cheap servos used for radio-controlled models.
More sophisticated servomotors measure both the position and also the speed of the output
shaft. They may also control the speed of their motor, rather than always running at full speed.
3.3.2 Control
Most modern servomotors are designed and supplied around a dedicated controller module from
the same manufacturer. Controllers may also be developed around microcontrollers in order to
reduce cost for large volume applications.
3.3.3 Servomotors vs. stepper motors
A servomotor consumes power as it rotates to the commanded position but then the
servomotor rests. Stepper motors run warm to the touch because they continue to consume
power to lock in and hold the commanded position. Servomotors are generally used as a
high performance alternative to the stepper motor. Stepper motors have some inherent
ability to control position, as they have built-in output steps. The stepper motor can only
drive a load that is well within its capacity, otherwise missed steps under load may lead to
positioning errors. The encoder and controller of a servomotor are an additional cost, but
they optimise the performance of the overall system (for all of speed, power and accuracy)
relative to the capacity of the basic motor. With larger systems, where a powerful motor
represents an increasing proportion of the system cost, servomotors have the advantage.
Many applications, such as laser cutting machines, may be offered in two ranges, the low-
priced range using stepper motors and the high-performance range using servomotors.
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Figure 2 Servo Motor
Number of Dc servomotors used are 3



3.4 Solenoid Valves
A solenoid valve is an electro-mechanical valve for use with liquid or gas. The valve
is controlled by an electric current through a solenoid in the case of a two-port valve the
flow is switched on or off; in the case of a three-port valve, the outflow is switched
between the two outlet ports. Multiple solenoid valves can be placed together on
a manifold. Solenoid valves are the most frequently used control elements in fluidics. Their
tasks are to shut off, release, dose, distribute or mix fluids. They are found in many
application areas. Solenoids offer fast and safe switching, high reliability, long service life,
good medium compatibility of the materials used, low control power and compact design.
Besides the plunger-type actuator which is used most frequently, pivoted-armature
actuators and rocker actuators are also used.
A solenoid valve has two main parts: the solenoid and the valve. The solenoid converts
electrical energy into mechanical energy which, in turn, opens or closes the valve
mechanically. A direct acting valve has only a small flow circuit, shown within section E of
this diagram (this section is mentioned below as a pilot valve). This diaphragm piloted
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valve multiplies this small flow by using it to control the flow through a much larger
orifice.
Solenoid valves may use metal seals or rubber seals, and may also have electrical interfaces
to allow for easy control. A spring may be used to hold the valve opened or closed while
the valve is not activated.

Figure 3 Solenoid Valve
A input side B diaphragm
C pressure chamber D pressure relief conduit
E solenoid F output side
The diagram to the right shows the design of a basic valve. At the top figure is the valve
in its closed state. The water under pressure enters at A. B is an elastic diaphragm and above it is
a weak spring pushing it down. The function of this spring is irrelevant for now as the valve
would stay closed even without it. The diaphragm has a pinhole through its center which allows
a very small amount of water to flow through it. This water fills the cavity C on the other side of
the diaphragm so that pressure is equal on both sides of the diaphragm, however the compressed
spring supplies a net downward force. The spring is weak and is only able to close the inlet
because water pressure is equalized on both sides of the diaphragm.

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In the previous configuration the small conduit D was blocked by a pin which is the
armature of the solenoid E and which is pushed down by a spring. If the solenoid is activated by
drawing the pin upwards via magnetic force from the solenoid current, the water in
chamber C will flow through this conduit D to the output side of the valve. The pressure in
chamber C will drop and the incoming pressure will lift the diaphragm thus opening the main
valve. Water now flows directly from A to F.

When the solenoid is again deactivated and the conduit D is closed again, the spring
needs very little force to push the diaphragm down again and the main valve closes. In practice
there is often no separate spring, the elastomer diaphragm is molded so that it functions as its
own spring, preferring to be in the closed shape.

From this explanation it can be seen that this type of valve relies on a differential of pressure
between input and output as the pressure at the input must always be greater than the pressure at
the output for it to work. Should the pressure at the output, for any reason, rise above that of the
input then the valve would open regardless of the state of the solenoid and pilot valve.

In some solenoid valves the solenoid acts directly on the main valve. Others use a small,
complete solenoid valve, known as a pilot, to actuate a larger valve. While the second type is
actually a solenoid valve combined with a pneumatically actuated valve, they are sold and
packaged as a single unit referred to as a solenoid valve. Piloted valves require much less power
to control, but they are noticeably slower. Piloted solenoids usually need full power at all times
to open and stay open, where a direct acting solenoid may only need full power for a short period
of time to open it, and only low power to hold it.

3.5 Relays
A relay is an electrically operated switch. Many relays use an electromagnet to mechanically
operate a switch, but other operating principles are also used, such as solid-state relays. Relays
are used where it is necessary to control a circuit by a low-power signal (with complete electrical
isolation between control and controlled circuits), or where several circuits must be controlled by
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one signal. The first relays were used in long distance telegraph circuits as amplifiers: they
repeated the signal coming in from one circuit and re-transmitted it on another circuit. Relays
were used extensively in telephone exchanges and early computers to perform logical operations.
A type of relay that can handle the high power required to directly control an electric motor or
other loads is called a contactor. Solid-state relays control power circuits with no moving parts,
instead using a semiconductor device to perform switching. Relays with calibrated operating
characteristics and sometimes multiple operating coils are used to protect electrical circuits from
overload or faults; in modern electric power systems these functions are performed by digital
instruments still called "protective relays".

Figure 4 Relay
3.5.1 Basic Design and Operation
A simple electromagnetic relay consists of a coil of wire wrapped around a soft iron core, an
iron yoke which provides a low reluctance path for magnetic flux, a movable iron armature, and
one or more sets of contacts (there are two in the relay pictured). The armature is hinged to the
yoke and mechanically linked to one or more sets of moving contacts. It is held in place by
a spring so that when the relay is de-energized there is an air gap in the magnetic circuit. In this
condition, one of the two sets of contacts in the relay pictured is closed, and the other set is open.
Other relays may have more or fewer sets of contacts depending on their function. The relay in
the picture also has a wire connecting the armature to the yoke. This ensures continuity of the
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circuit between the moving contacts on the armature, and the circuit track on the printed circuit
board (PCB) via the yoke, which is soldered to the PCB.
When an electric current is passed through the coil it generates a magnetic field that activates the
armature, and the consequent movement of the movable contact(s) either makes or breaks
(depending upon construction) a connection with a fixed contact. If the set of contacts was closed
when the relay was de-energized, then the movement opens the contacts and breaks the
connection, and vice versa if the contacts were open. When the current to the coil is switched off,
the armature is returned by a force, approximately half as strong as the magnetic force, to its
relaxed position. Usually this force is provided by a spring, but gravity is also used commonly in
industrial motor starters. Most relays are manufactured to operate quickly. In a low-voltage
application this reduces noise; in a high voltage or current application it reduces arcing.
When the coil is energized with direct current, a diode is often placed across the coil to dissipate
the energy from the collapsing magnetic field at deactivation, which would otherwise generate
a voltage spike dangerous to semiconductor circuit components. Some automotive relays include
a diode inside the relay case. Alternatively, a contact protection network consisting of a capacitor
and resistor in series may absorb the surge. If the coil is designed to be energized with alternating
current (AC), a small copper "shading ring" can be crimped to the end of the solenoid, creating a
small out-of-phase current which increases the minimum pull on the armature during the AC
cycle.
A solid-state relay uses a thyristor or other solid-state switching device, activated by the control
signal, to switch the controlled load, instead of a solenoid. An optocoupler (a light-emitting
diode (LED) coupled with a photo transistor) can be used to isolate control and controlled
circuits
3.5.2 Applications
Relays are used for:
Amplifying a digital signal, switching a large amount of power with a small operating
power. Some special cases are:
A telegraph relay, repeating a weak signal received at the end of a long wire
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Controlling a high-voltage circuit with a low-voltage signal, as in some types
of modems or audio amplifiers,
Controlling a high-current circuit with a low-current signal, as in the starter solenoid of
an automobile,

3.6 Suction cups
A suction cup, also sometimes known as a sucker, is an object that uses negative fluid pressure
of air or water to adhere to nonporous surfaces and in the process creates a partial vacuum. They
exist both as artificially created devices, and as anatomical traits of some animals such
as octopuses and squid.
The working face of the suction cup has a curved surface. When the center of the suction cup is
pressed against a flat, non-porous surface, the volume of the space between the suction cup and
the flat surface is reduced, which causes the fluid between the cup and the surface to be expelled
past the rim of the circular cup. When the user ceases to apply physical pressure to the centre of
the outside of the cup, the elastic substance of which the cup is made tends to resume its original,
curved shape. Because most of the fluid has already been forced out of the inside of the cup, the
cavity which tends to develop between the cup and the flat surface has little to no air or water in
it, and therefore lacks pressure. The pressure difference between the atmosphere on the outside
of the cup, and the low-pressure cavity on the inside of the cup, is what keeps the cup adhered to
the surface.



3.6.1 Calculations
The force required to detach an ideal suction cup by pulling it directly away from the surface is
given by the formula:

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where:
F is the force,
A is the area of the surface covered by the cup,
P is the pressure outside the cup (typically atmospheric pressure)
This is derived from the definition of pressure, which is:

For example, a suction cup of radius 2.0 cm has an area of (0.020 m)
2
= 0.0013 square meters.
Using the force formula (F = AP), the result is F = (0.0013 m
2
)(100,000 Pa) = about
130 newtons.
The above formula relies on several assumptions:
The outer diameter of the cup does not change when the cup is pulled.
No air leaks into the gap between the cup and the surface.
The pulling force is applied perpendicular to the surface so that the cup does not slide
sideways or peel off.

3.6.2 Uses
Suction cups have a number of commercial and industrial applications:
In office and household settings, to affix objects (ranging from signs to mugs) to nonporous
vertical surfaces such as refrigerator doors and tiled walls
To move large smooth objects such as panes of glass, automobile windscreens and raised
floor tiles
In toys such as Nerf darts
In toilet plungers

3.7 Hose pipes
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A hose is a flexible hollow tube designed to carry fluids from one location to another. Hoses are
also sometimes called pipes (the word pipe usually refers to a rigid tube, whereas a hose is
usually a flexible one), or more generally tubing. The shape of a hose is usually cylindrical
(having a circular cross section). Hose design is based on a combination of application and
performance. Common factors are Size, Pressure Rating, Weight, Length, Straight hose or Coil
hose and Chemical Compatibility. Hoses are made from one or a combination of many different
materials. Applications mostly use nylon, polyurethane, polyethylene, PVC, or synthetic or
natural rubbers, based on the environment and pressure rating needed. In recent years, hoses can
also be manufactured from special grades of polyethylene (LDPE and especially LLDPE). Other
hose materials include PTFE (Teflon), stainless steel and other metals.
3.7.1 Applications
Hoses can be used in water or other liquid environments or to convey air or other gases. Hoses
are used to carry fluids through air or fluid environments, and they are typically used with
clamps, spigots, flanges, and nozzles to control fluid flow.

Figure 5 Hose pipes
Specific applications include the following:-
1. A garden hose is used to water plants in a garden or lawn, or to convey water to a
sprinkler for the same purpose.
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2. A Tough Hose is used to water crops in agriculture for drip irrigation
3. A fire hose is used by firefighters to convey water to the site of a fire.
4. Air hoses are used in underwater diving to carry air from a surface compressor or from
air tanks. (See also Snorkeling.) Industrial uses for operating flexible machinery and
worktable tooling such as pneumatic screw drivers, grinders, staplers, etc.
5. In building services, metal or plastic hoses are used to move water around a building;
whilst air ducts are used to move air around (see air conditioning). They can also be used
to take out vibration, and thermal or settlement movement.
6. Automotive hoses are used in automobiles to move fluids around for use in cooling,
lubrication, and/or hydraulics. Hoses are also used to convey pressure or vacuum signals
to control circuits or gauges, as well as conveying vacuum to heating, cooling, brake,
and/or locking systems.
7. In chemistry and medicine, hoses (usually called tubes) are used to move liquid
chemicals or gases around.
8. Beating someone with a rubber hose is a known form of torture. It's sometimes referred
to in a tongue-in-cheek manner such as in Rubber-hose cryptanalysis, a method of
breaking into secured systems by torturing someone to give up a password.

3.8 Pneumatic cylinder:
Pneumatic cylinders (sometimes known as air cylinders) are mechanical devices which
use the power of compressed gas to produce a force in a reciprocating linear motion. Like
hydraulic cylinders, pneumatic cylinders use the stored potential energy of a fluid, in this case
compressed air, and convert it into kinetic energy as the air expands in an attempt to reach
atmospheric pressure. This air expansion forces a piston to move in the desired direction. The
piston is a disc or cylinder, and the piston rod transfers the force it develops to the object to be
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moved. Engineers prefer to use pneumatics sometime because they are quieter, cleaner, and do
not require large amounts or space for fluid storage.

Figure 6 Pnuematic cylinder
Single- and Double-Acting Air Cylinders
All models feature high-strength, double rolled Type 304 stainless steel body, aluminum
alloy end caps, Type 303 stainless steel piston rods, and sintered bronze bearings.
Recommended for operating temperatures of -20 Degree to 200 Degree F. 250 psi max.
Operating pressure. Single-acting cylinders are spring loaded.

These are mechanical devices which produce force, often in combination with movement, and
are powered by compressed gas (typically air). To perform their function, pneumatic cylinders
impart a force by converting the potential energy of compressed gas into kinetic energy. This is
achieved by the compressed gas being able to expand, without external energy input, which itself
occurs due to the pressure gradient established by the compressed gas being at a greater pressure
than the atmospheric pressure. This air expansion forces a piston to move in the desired
direction.

3.8.1 Operation
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Once actuated, compressed air enters into the tube at one end of the piston and, hence, imparts
force on the piston. Consequently, the piston becomes displaced (moved) by the compressed air
expanding in an attempt to reach atmospheric pressure.

3.8.2 Specialized functions
Depending upon the design of the system, pneumatic cylinders can operate in a variety of
ways. Examples include having the ability to perform multiple strokes without the need for
intermediate intervention, to perform a full stroke with intermediate stopping points, to be
adjusted so as to control the amount of extension and/or retraction of the piston rod once
actuated.
3.8.3 Fail safe mechanisms
Pneumatic systems are often found in settings where even rare and brief system failure is
unacceptable. In such situations locks can sometimes serve as a safety mechanism in case of loss
of air supply (or its pressure falling) and, thus, remedy or abate any damage arising in such a
situation. Due to the leakage of air from i/p or o/p reduces the pressure and so the desired o/p.
3.8.4 Types
Although pneumatic cylinders will vary in appearance, size and function, they generally
fall into one of the specific categories shown below. However there are also numerous other
types of pneumatic cylinder available, many of which are designed to fulfill specific and
specialized functions.
3.8.5 Single acting cylinders
Single acting cylinders (SAC) use the force imparted by air to move in one direction
(usually out), and a spring to return to the "home" position.
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Figure 7 Single Acting Cylinder
3.8.6 Double acting cylinders
Double Acting Cylinders (DAC) use the force of air to move in both extend and retract
strokes. They have two ports to allow air in, one for outstroke and one for instroke.


Figure 8 Double Acting Cylinder
3.8.7 Other types
Although SACs and DACs are the most common types of pneumatic cylinder, the
following types are not particularly rare:
Rotary air cylinders: actuators that use air to impart a rotary motion
Rodless air cylinders: actuators that use a mechanical or magnetic coupling to impart
force, typically to a table or other body that moves along the length of the cylinder body,
but does not extend beyond it.
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3.8.8 Sizes
Air cylinders are available in a variety of sizes and can typically range from a small
2.5 mm air cylinder, which might be used for picking up a small transistor or other electronic
component, to 400 mm diameter air cylinders which would impart enough force to lift a car.
Some pneumatic cylinders reach 1000 mm in diameter, and are used in place of hydraulic
cylinders for special circumstances where leaking hydraulic oil could impose an extreme hazard.

3.9 Compressor
An air compressor is a device that converts power (usually from an electric motor, a diesel
engine or a gasoline engine) into kinetic energy by compressing and pressurizing air, which, on
command, can be released in quick bursts. There are numerous methods of air compression,
divided into either positive-displacement or negative-displacement types

3.9.1 Types of air compressor
According to the design and principle of operation
1. Reciprocating compressor
2. Rotary screw compressor
3. Turbo compressor
3.9.2 Positive displacement
Positive-displacement air compressors work by forcing air into a chamber whose volume is
decreased to compress the air. Piston-type air compressors use this principle by pumping air into
an air chamber through the use of the constant motion of pistons. They use one-way valves to
guide air into a chamber, where the air is compressed Rotary screw compressors also use
positive-displacement compression by matching two helical screws that, when turned, guide air
into a chamber, whose volume is decreased as the screws turn. Vane compressors use a slotted
rotor with varied blade placement to guide air into a chamber and compress the volume. A type
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of compressor that delivers a fixed volume of air at high pressures. Common types of positive
displacement compressors include piston compressors and rotary screw compressors.
3.9.3 Negative displacement
Negative-displacement air compressors include centrifugal compressors. These use centrifugal
force generated by a spinning impeller to accelerate and then decelerate captured air, which
pressurizes it..

Figure 9 Compressor
3.9.4 Cooling
Due to adiabatic heating, air compressors require some method of disposing of waste heat.
Generally this is some form of air- or water-cooling, although some (particularly rotary type)
compressors may be cooled by oil (that is then in turn air- or water-cooled) and the atmospheric
changes also considered during cooling of compressors.
3.9.5 Applications
To supply high-pressure clean air to fill gas cylinders
To supply moderate-pressure clean air for driving some office and school
building pneumatic HVAC control system valves
To supply a large amount of moderate-pressure air to power pneumatic tools, such
as jackhammers
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For filling tires
To produce large volumes of moderate-pressure air for large-scale industrial processes (such
as oxidation for petroleum coking or cement plant bag house purge systems).
Most air compressors either are reciprocating piston type, rotary vane or rotary screw.
Centrifugal compressors are common in very large applications. There are two main types of air
compressor's pumps: oil-lubed and oil-less. The oil-less system has more technical development,
but is more expensive, louder and lasts for less time than oil-lubed pumps. The oil-less system
also delivers air of better quality.

3.10 Battery
An electric battery is a device consisting of one or more electrochemical cells that convert stored
chemical energy into electrical energy. Each cell contains a positive terminal, or cathode, and a
negative terminal, or anode. Electrolytes allow ions to move between the electrodes and
terminals, which allows current to flow out of the battery to perform work.
Generally there are two types of batteries namely:-
1. Primary Batteries
2. Secondary Batteries
Primary (single-use or "disposable") batteries are used once and discarded; the electrode
materials are irreversibly changed during discharge. Common examples are the alkaline battery
used for flashlights and a multitude of portable devices. Secondary (rechargeable batteries) can
be discharged and recharged multiple times; the original composition of the electrodes can be
restored by reverse current. Examples include the lead-acid batteries used in vehicles and lithium
ion batteries used for portable electronics. Batteries come in many shapes and sizes, from
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Figure 10 Battery
miniature cells used to power hearing aids and wristwatches to battery banks the size of rooms
that provide standby power for telephone exchanges and computer data centers.
3.10.1 Principle of operation
Batteries convert chemical energy directly to electrical energy. A battery consists of some
number of voltaic cells. Each cell consists of two half-cells connected in series by a conductive
electrolyte containing anions and cations. One half-cell includes electrolyte and the negative
electrode, the electrode to which anions (negatively charged ions) migrate; the other half-cell
includes electrolyte and the positive electrode electrode to which cations (positively charged
ions) migrate. Redox reactions power the battery. Cations are reduced (electrons are added) at
the cathode during charging, while anions are oxidized (electrons are removed) at the anode
during discharge. The electrodes do not touch each other, but are electrically connected by the
electrolyte. Some cells use different electrolytes for each half-cell. A separator allows ions to
flow between half-cells, but prevents mixing of the electrolytes.


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3.11 Switches
A switch is an electrical component that can break an electrical circuit, interrupting the current
or diverting it from one conductor to another. The most familiar form of switch is a manually
operated electromechanical device with one or more sets of electrical contacts, which are
connected to external circuits. Each set of contacts can be in one of two states: either "closed"
meaning the contacts are touching and electricity can flow between them, or "open", meaning the
contacts are separated and the switch is nonconducting. The mechanism actuating the transition
between these two states (open or closed) can be either a "toggle" (flip switch for continuous
"on" or "off") or "momentary" (push-for "on" or push-for "off") type.
A switch may be directly manipulated by a human as a control signal to a system, such as a
computer keyboard button, or to control power flow in a circuit, such as a light switch.
Automatically operated switches can be used to control the motions of machines, for example, to
indicate that a garage door has reached its full open position or that a machine tool is in a
position to accept another workpiece. Switches may be operated by process variables such as
pressure, temperature, flow, current, voltage, and force, acting as sensors in a process and used to
automatically control a system. For example, a thermostat is a temperature-operated switch used
to control a heating process. A switch that is operated by another electrical circuit is called a
relay. Large switches may be remotely operated by a motor drive mechanism. Some switches are
used to isolate electric power from a system, providing a visible point of isolation that can be
padlocked if necessary to prevent accidental operation of a machine during maintenance, or to
prevent electric shock. An ideal switch would have no voltage drop when closed, and would
have no limits on voltage or current rating. It would have zero rise time and fall time during state
changes, and would change state without "bouncing" between on and off positions.
Practical switches fall short of this ideal; they have resistance, limits on the current and voltage
they can handle, finite switching time, etc. The ideal switch is often used in circuit analysis as it
greatly simplifies the system of equations to be solved, but this can lead to a less accurate
solution. Theoretical treatment of the effects of non-ideal properties is required in the design of
large networks of switches, as for example used in telephone exchanges.
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Figure 11 Switches













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CHAPTER 4
PROCESSES USED
4.1 Soldering
Soldering is a process in which two or more metal items are joined together by melting and
flowing a filler metal (solder) into the joint, the filler metal having a lower melting point than the
adjoining metal. Soldering differs from welding in that soldering does not involve melting the
work pieces. Soldering is used in plumbing, electronics, and metalwork from flashing to jewelry.
Soldering provides reasonably permanent but reversible connections between copper pipes
in plumbing systems as well as joints in sheet metal objects such as food cans, roof flashing, rain
gutters and automobile radiators. Jewelry components, machine tools and some refrigeration and
plumbing components are often assembled and repaired by the higher temperature silver
soldering process. It can also be used as a semi-permanent patch for a leak in a container or
cooking vessel.

Figure 12 Soldering Tool
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4.1.1 Solders
Soldering filler materials are available in many different alloys for differing applications. In
electronics assembly, the eutectic alloy of 63% tin and 37% lead (or 60/40, which is almost
identical in melting point) has been the alloy of choice. Other alloys are used for plumbing,
mechanical assembly, and other applications. Some examples of soft-solder are tin-lead for
general purposes, tin-zinc for joining aluminium, lead-silver for strength at higher than room
temperature, cadmium-silver for strength at high temperatures, zinc-aluminium for aluminium
and corrosion resistance, and tin-silver and tin-bismuth for electronics.Common solder
formulations based on tin and lead are listed below. The fraction represent percentage of tin first,
then lead, totaling 100%:
63/37: melts at 183 C (361 F) (eutectic: the only mixture that melts at a point, instead of
over a range)
60/40: melts between 183190 C (361374 F)
50/50: melts between 185215 C (365419 F)

4.1.2 Flux
The purpose of flux is to facilitate the soldering process. One of the obstacles to a successful
solder joint is an impurity at the site of the joint, for example, dirt, oil or oxidation. The
impurities can be removed by mechanical cleaning or by chemical means, but the elevated
temperatures required to melt the filler metal (the solder) encourages the work piece (and the
solder) to re-oxidize. This effect is accelerated as the soldering temperatures increase and can
completely prevent the solder from joining to the workpiece.

4.1.3 Electronic components (PCB)
Printed circuit boards (PCBs) are mostly wave soldered or reflow soldered, though hand
soldering of production electronics is also still standard practice.
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In wave soldering, parts are temporarily kept in place with small dabs of adhesive, then the
assembly is passed over flowing solder in a bulk container. This solder is shaken into waves so
the whole PCB is not submerged in solder, but rather touched by these waves. The end result is
that solder stays on pins and pads, but not on the PCB itself.
Since different components can be best assembled by different techniques, it is common to use
two or more processes for a given PCB. For example, surface mounted parts may be reflow
soldered first, with a wave soldering process for the through-hole mounted components coming
next, and bulkier parts hand-soldered last.

4.1.4 Tools
In principle any type of soldering tool can carry out any work using solder at temperatures it can
generate. In practice different tools are more suitable for different applications.
Hand-soldering tools widely used for electronics work include the electric soldering iron, which
can be fitted with a variety of tips ranging from blunt to very fine, to chisel heads for hot-cutting
plastics rather than soldering. Hot-air guns and pencils allow rework of component packages
which cannot easily be performed with electric irons and guns
A soldering copper is a tool with a large copper head and a long handle which is heated in
a blacksmith's forge fire and used to apply heat to sheet metal for soldering. Typical soldering
coppers have heads weighing between one and four pounds.
Wire brush, wire wool and emery cloth are commonly used to prepare plumbing joints for
connection. Electronic joints are usually made between surfaces that have been tinned and rarely
require mechanical cleaning, though tarnished component leads and copper traces with a dark
layer of oxide passivation (due to aging), as on a new prototyping board that has been on the
shelf for about a year or more, may need to be mechanically cleaned.
Some fluxes for electronics are designed to be stable and inactive when cool and do not need to
be cleaned off, though they still can be if desired, while other fluxes are acidic and must be
removed after soldering to prevent corrosion of the circuits.

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4.2 Drilling
Drilling is a cutting process that uses a drill bit to cut or enlarge a hole of circular cross-
section in solid materials. The drill bit is a rotary cutting tool, often multipoint. The bit
is pressed against the workpiece and rotated at rates from hundreds to thousands of revolutions
per minute. This forces the cutting edge against the work piece, cutting off chips (swarf) from the
hole as it is drilled. Exceptionally, specially-shaped bits can cut holes of non-circular cross-
section; a square cross-section is possible

4.2.1 Process
Drilled holes are characterized by their sharp edge on the entrance side and the presence
of burrs on the exit side (unless they have been removed). Also, the inside of the hole usually has
helical feed marks. Drilling may affect the mechanical properties of the workpiece by creating
low residual stresses around the hole opening and a very thin layer of highly stressed and
disturbed material on the newly formed surface. This causes the workpiece to become more
susceptible to corrosion at the stressed surface. A finish operation may be done to avoid the
corrosion. Zinc plating or any other standard finish operation of 14 to 20 m can be done which
helps to avoid any sort of corrosion
The higher the length-to-diameter ratio of the drill bit, the higher the tendency to walk. The
tendency to walk is also preempted in various other ways, which include:
Establishing a centering mark or feature before drilling, such as by:
Casting, molding, or forging a mark into the workpiece
Center punching
Spot drilling (i.e., center drilling)
Spot facing, which is facing a certain area on a rough casting or forging to establish,
essentially, an island of precisely known surface in a sea of imprecisely known surface
Constraining the position of the drill bit using a drill jig with drill bushings
Surface finish in drilling may range from 32 to 500 microinches. Finish cuts will generate
surfaces near 32 microinches, and roughing will be near 500 microinches. Cutting fluid is
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commonly used to cool the drill bit, increase tool life, increase speeds and feeds, increase the
surface finish, and aid in ejecting chips. Application of these fluids is usually done by flooding
the workpiece or by applying a spray mist.
In deciding which drill(s) to use it is important to consider the task at hand and evaluate which
drill would best accomplish the task. There are a variety of drill styles that each serve a different
purpose. The subland drill is capable of drilling more than one diameter. The spade drill is used
to drill larger hole sizes. The indexable drill is useful in managing chips



4.2.2 Drill
A drill is a tool fitted with a cutting tool attachment or driving tool attachment, usually a drill
bit or driver bit, used for boring holes in various materials or fastening various materials together
with the use of fasteners. The attachment is gripped by a chuck at one end of the drill and rotated
while pressed against the target material. The tip, and sometimes edges, of the cutting tool does
the work of cutting into the target material. This may be slicing off thin shavings (twist
drills or auger bits), grinding off small particles (oil drilling), crushing and removing pieces of
the workpiece (SDS masonry drill), countersinking, counter boring, or other operations. Drills
are commonly used in woodworking, metalworking, construction and do-it-yourself projects.

4.2.3 Types
There are many types of drills: some are powered manually, others use electricity (electric drill)
or compressed air (pneumatic drill) as the motive power, and a minority are driven by an internal
combustion engine (for example, earth drilling augers). Drills with a percussive action (hammer
drills) are mostly used in hard materials such as masonry (brick, concrete and stone)
or rock. Drilling rigs are used to bore holes in the earth to obtain water or oil. Oil wells, water
wells, or holes for geothermal heating are created with large drilling rigs. Some types of hand-
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held drills are also used to drive screws and other fasteners. Some small appliances that have no
motor of their own may be drill-powered, such as small pumps, grinders, etc
A variety of hand-powered drills have been employed over the centuries. Here are a few, starting
with approximately the oldest:
Bow drill
Brace and bit
Gimlet
Hand drill, also known as an "eggbeater" drill
Breast drill, similar to an "eggbeater" drill, it has a flat chest piece instead of a handle
Push drill, a tool using a spiral ratchet mechanism
Pin chuck, a small hand-held jeweler's drill
4.3 Filing
Filing is a material removal process in manufacturing. Similar, depending on use, to both sawing
and grinding in effect, it is functionally versatile, but used mostly for finishing operations,
namely in deburring operations. Filing operations can be used on a wide range of materials as a
finishing operation. Filing helps achieve workpiece function by removing some excess material
and deburring the surface. Sandpaper may be used as a filing tool for other materials, such as
glass.
4.3.1 Band filing
Band Filing takes place on a machine similar to a belt sander, used like a band saw. Band files
are sectioned so that they can be made from stiff material, as they need to be to effectively
remove material, yet still work in a constant feed. A band filing operation can be used to remove
small amounts of material with good accuracy. The cutting teeth of the file are arranged closely
on the file and are used as part of a finishing process
4.3.2 Reciprocating filing
Reciprocating filing takes place on a flat surface where workpieces are fed into the file. The file
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teeth are angled so that material is removed on each downstroke of the tool. Chips removed from
the workpiece fall through a cavity in front of the file.

4.4 Cutting
Cutting is the separation of a physical object, or a portion of a physical object, into two or more
portions, through the application of an acutely directed force. Implements commonly used for
cutting are the knife and saw, or in medicine and science the scalpel and microtome. However,
any sufficiently sharp object is capable of cutting if it has a hardness sufficiently larger than the
object being cut, and if it is applied with sufficient force. Even liquids can be used to cut things
when applied with sufficient force.
Cutting is a compressive and shearing phenomenon, and occurs only when the
total stress generated by the cutting implement exceeds the ultimate strength of the material of
the object being cut. The simplest applicable equation is stress = force/area.











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CHAPTER 5
WORK PLAN AND FLOW CHART
5.1 Work Timeline
Research on types of similar robots available

21-26 Jan
Study of the different methods for the possibilities

27-31 Jan
Arrange the parts required

3-8 Feb
Cutting of aluminium strips drilling 10-11 Feb
Rivetting 13-14 Feb
Dc Servomotors installed

17-19 Feb
Pistons Installed

24-25 Feb
Suction Cups Fixed 26-28 Feb
Wiring and pneumatic pipe fittings and soldering

10-11 March
Testing of the specimen

12-15 March
Modifications made to support the cups

17-20 March
Project report compilation

24 March- 7 April
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Table 1 Work Plan


5.2 FLOW CHART OF THE PROCESSES INVOLVED
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Flowchart 1 Process











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CHAPTER 6
EXPERIMENTAL WORK DONE
When we first arrived in lab, we were greeted by a smattering of parts. Our mission
throughout the first few weeks was to determine the composition of the robot. Our first goal was
to determine the type of material to be used for sticking the robot to the wall. After a lot of
research we concluded that the possibility of making a robot climb on wall can be with the help
of suction cups only. Our next objective was to find the way for sticking the cups on the wall.
We had two choices either using vaccum pumps or using pneumatic cylinders. Vaccum pumps
are driven using a power supply and pneumatic cylinders using a compressor which inturn
requires a power supply. Both of them have there pros and cons.
After we had decided that for sticking we were going to use a 150 psi compressor driving
a 150cc pneumatic cylinder we had to find ways for its links movement. The best available
motor for this could be DC Servomotors. We used 12V DC supplied Servomotors with 4rpm for
turning the links and to place the cups firmly on the surface. After we were done thinking about
the components required it was now time to start up with the project build up.
Our first step was to look for the material to be used for robot chasis. We choosed
aluminium strips since it was easily available, light weight and provides good strength. We cut
the aluminium strips and drilled holes in them to use fasteners to keep distance between the two
parallel supports. After this a DC Servomotor was planted between the two links.
For setting up the Servomotor we had to use less thickness nuts and to cut the strip
according to the shape of motor head so that the movement of motor can be well transmitted to
the link.
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Again a metal strip was cut and bended according to the need of the structure. The metal
was cut for giving space to pneumatic cylinder to be fitted to structure. The process was repeated
for the other leg also. Now the main requirement is to supply power to motors and compressed
air to the pneumatic cylinders. The power to the motors is supplied using a 12V Battery. The
compressor also runs on 12V Dc but the air is supplied to the pistons using pipes. The large lenth
of wires may vary the pressure heads available at the tip of the pipe. Now the solenoid valves are
actuated with the help of switches. These solenloid valve decides the movement of the piston in
the front or backward direction. The front stroke of the cylinder fixes up the robot leg to the
smooth surface. Other leg also brought in contact with the surface. Then again actuating the
other piston helps in sticking the robot firmly to the wall. The suction cup can be removed by
actuating the cylinder to the opposite direction. The motors are operated with the help of
switches and the robot arm is raised above in order to climb the wall.
In terms of assembling the robot, we undid most of the previous wiring and soldered it back
together in a slightly more reasonable manner, having large nodes to which many things could be
connected to. Unfortunately the shortness of some wires limited the usefulness of rearranging
things, and the length of some of the others caused a large mess to be remaining in the end
anyway. In the end, we had two nodes for servomotors which connected to: the terminals of the
battery circuit, and two for the solenoid valves.
As was demonstrated, the project was a success, as we were able to drive the bot via the
switches at different possible angles. We were also able to use the battery monitor and control
the central motor remotely.

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6.1 MAIN COSTS

Compressor Rs 1800\-
Battery Rs 900
Solenoid Valves&Relays 4X Rs250
Pneumatic Cylinders 2X Rs650
Dc ServoMotors 3X Rs 350
Table 2 Cost of Parts











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CHAPTER 7
FEATURES OF WALL CLIMBING ROBOT
The robot consists of 3 servo motors and 2 robotic feet, in which the functions of motors
are to generate rotary motion of links only which are connected to the robotic feet. These
2 feet motions will operate in a synchronized manner.
The robot has the ability to move in both directions that is forward as well as backward,
this could be achieved by changing the polarity of servo motors. Thus the process is
simpler and doesnt require a microcontroller at all.
The robot has the capabilities to climb walls, walk on ceilings, and transit between
different surfaces. This all could be achieved because we are using suction cups, which
dont get detached easily once the cups are attached to the surface.
The robot can move on virtually any kinds of smooth surfaces which provide a good
chance to create vacuum between the surface and robotic feet consisting of suction cups.
The flipper robot consists of various parts like suction cups, compressor, solenoid valve,
relay, servo motors, pneumatic cylinders actuated using solenoid valves, 12 V battery.
Out of this servo motors are self contained.
Once the battery is fully charged then at a load of 7.2 amperes the battery can operate up
to one hour.
The flipper robot has the ability to carry payloads also; it can carry its self weight of up to
2 kgs as well as other devices like cameras could be mounted on it very easily.
The flipper robot consists of servo motors that have a revolution per minute of 2, and the
length of our robot is approximate 0.65 meters, which means at a full speed it could cover
a distance of 1.3 meters in a minutes. Thus the speed of this robot could be successfully
calculated as 78 meters in an hour.





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CHAPTER 8
RESULT

8.1 USES OF WALL CLIMBING ROBOT

Since the end of the 80ties climbing robots are examined for different types of application
scenarios all over the world. E.g at the end of the 80ties and the begin of the 90ties in Japan
several national projects concerning climbing robots for specific application scenarios have been
developed. These include cleaning robots for glass walls, ship hull cleaning robots, rescue robots
for fire brigades, inspection robots for steel tanks and wall. These machine have been developed
for different types of applications like the inspection of pipes and ducts in the petrochemical
industry, maintenance and inspection work in the construction and nuclear industry or cleaning
robots for huge class walls.
Some of the major areas where a wall climbing robot could be used are written below
Nuclear plant inspection
Cleaning and Inspection of glass wall
Steal bridge inspection
Ship cleaning/inspection
Pipe inspection in chemical systems
Airplane cleaning and inspection
Cleaning both the ceramic tile and glass surfaces of high-rise buildings









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8.2 DRAWBACKS

The flipper robot that we have made has certain limitations too; we are going to discuss all of
them in a point form.
We are using suction cups which are operated by a pneumatic cylinder actuated by
solenoid valve; this means that the motion of the flipper is dependent upon the suction
generated.
They cannot be used on rough surfaces and the chances of vacuum generation are very
less. The flipper robot could only operate on smooth surfaces or more preferably on glass
surface.
The speed of servo motor is around 2 rpm which means that the speed of our flipper robot
is only 78 meters per hour.
The 12 V battery could operate for approximately one hour only at full load
The aluminum strips that we have used increased the weight of our robot, we could have
used other polymers in place of aluminum but that would have increased the cost of our
project.
The length of flipper is 0.65 meter which could be made short by removing an extra link,
and this way we could remove a extra servo motor also.
The compressor could not be used for long duration as it gets heated up very fast.
The flipper robot that we have made is not remote controlled which means that it cannot
move forward after a certain length, this has been done to ensure the minimum cost for
our project.







CHAPTER 9
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CONCLUSION AND FUTURE SCOPE

The design and fabrication of the Wall Climbing Robot has been successfully achieved. This
study has proposed movement step design for wall-climbing robot. In design the robot use
pneumatic system as main unit to move on the wall. During the robot move on the wall, the robot
must remain always the vacuum cups for holding. We can choose parameter to improve the
climbing efficiency for hardware design. The first way, we can change the wall material to
increase s. The second way, we can improve vacuum force or reduce robot weight (Mg), by
using robot light material, example straight plastic. This study is valuable as literature review for
researchers, who want to construct wall-climbing robot. We can choose parameter to improve the
climbing efficiency that the robot can climb much slope. For the first way, we can change the
wall material to increase s and for the second way, we can improve vacuum force by means of
increasing pneumatic system efficiency.
Our next step if we go further with the project should be to make the robot wireless, we have to
focus on increasing the speed of robot, and to increase the suction pressure generated by
compressor. Till now the robot can move in only two directions that is forward and backward we
need to provide more degree of freedom to the links, so that it can go freely in all direction. The
battery used for this purpose could be more powerful. The weight of the flipper could be reduced
by using lighter material than aluminum. The number of servo motors used could be decreased to
2, and finally the length of the flipper could be decreased to ensure a faster movement.






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BIBLIOGRAPHY
Journals
D.M. Aslam and G. Dangi, Design, fabrication and testing of a smart robotic foot,
Robotics and Autonomous Sys., vol. 51 (2,3), July 31, 207-214(2005).
T. Yano, S. Tomahiro, M. Murakami, T. Yamamoto, Development of semi-self
contained wall climbing robot with scanning type suction cups, Proceedings IROS
97,1997, pp.900-905.
Nishi, H. Miyagi, Propeller type wall climbing robot for inspection use, Proceedings of
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M. Fujji, C. Satoo, S. Kajiyama,, and S. Naitoo, Wall surface vehicles for the robots in
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