A novel hybrid adhesion method and autonomous locomotion mechanism for wall-climbing robots

In this paper we propose a novel adhesion method for the tracked wall-climbing robot. The method is based on the use of the tape, which the robot affixes to the wall during its movement. The adhesive side of the tape adheres to the wall, while the non-adhesive side allows for the robot's movement. The robot attaches to the tape using spikes located on the surface of its tracks. We developed the experimental prototype with a tracked locomotion mechanism weighing 1.2 kg, measuring 212 mm × 294 mm × 131 mm, and capable of carrying a payload of 2 kg. The battery life of the prototype is 3.5 h in standby mode and 1.8 h in moving mode. The prototype is controlled remotely through video transmission in manual mode and can move on both vertical and horizontal surfaces, and transition between them. The prototype has demonstrated the ability to move along a vertical surface, transition from a horizontal to a vertical surface, and recover from an unstable position in the case of a capsize. We used basic components and 3D printing in the manufacturing process. This suggests that we can make the prototype better by using different materials and components.