Abstract Steering a wall-climbing robot on a vertical surface is challenging because the angle of gravity and motion trajectory are continuously changing. There is an additional degree of freedom when steering a wall-climbing robot on a vertical surface compared with only climbing forward. This study presents a steerable linkage-type wall-climbing robot with walking locomotion for flat vertical surfaces. A parallel four-bar linkage mechanism connecting the inner body frame to the outer body frame was designed to implement walking locomotion by linkage rotation. Additionally, to achieve high and continuous steering speed a simple steering mechanism was designed with a single servo motor and two bevel gears. This wall-climbing robot using a dry adhesive system with flat elastomer, and the dry adhesion method is applicable to various material surfaces. Furthermore, failure analysis was conducted to determine the stable steering angle when the robot was climbing on a vertical surface. Finally, a performance assessment confirmed the steering stability of the wall-climbing robot on a vertical surface. The forward-climbing speed of the robot is 13.3m/s, and it can stably complete the steering motion at angles less than 55° in 5s.

中文翻译：

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可转向干胶联动式爬墙机器人

摘要 由于重力角度和运动轨迹不断变化，在垂直表面上操纵爬墙机器人具有挑战性。与仅向前攀爬相比，在垂直表面上操纵爬墙机器人时有额外的自由度。本研究提出了一种可操纵的连杆式爬墙机器人，可在平坦的垂直表面上行走运动。设计了一种连接内车身框架和外车身框架的平行四连杆机构，通过连杆旋转实现行走运动。此外，为了实现高速和连续的转向速度，设计了一个简单的转向机构，带有一个伺服电机和两个锥齿轮。这款爬墙机器人使用带有扁平弹性体的干式粘合剂系统，干式粘合法适用于各种材料表面。此外，还进行了故障分析，以确定机器人在垂直表面上爬升时的稳定转向角。最后，性能评估证实了爬墙机器人在垂直表面上的转向稳定性。机器人前爬速度为13.3m/s，5s以内可稳定完成小于55°的转向动作。