Submitted by:
- Albin David C (JEC19MC004)
- Awin Saju (JEC19MC014)
- Joel Varghese (LJEC19MC045)
- Sajan T John (JEC19MC038)
Submitted to:
APJ Abdul Kalam Technological University
Under the Guidance of:
Ms. Shamin Elizabeth Varkey
- Introduction
- Literature Survey
- Methodology
- Components and System Design
- Results and Testing
- Conclusion
The concept of wall-climbing robots is introduced in this section, emphasizing their relevance for tasks in hard-to-reach or hazardous environments where human involvement is difficult or unsafe. Wall-climbing robots have wide applications, including inspection, maintenance, cleaning, and surveillance on high-rise structures and industrial surfaces. Our project aims to develop an automatic, suction-powered wall-climbing robot that can efficiently perform these tasks.
This section presents a review of previous research and technological approaches in wall-climbing robotics, which laid the groundwork for our project:
- Mechanism Design for Vertical Mobility: Describes various mechanical designs that allow robots to adapt to both flat and curved surfaces, which are essential for versatile wall-climbing robots.
- Climbing Robot for Cleaning Applications: Focuses on a ducted fan-based robot specifically designed for cleaning tall buildings, demonstrating the effectiveness of suction for adhesion.
- Anti-terrorism and Rescue Robots: Highlights small, suction-based robots used for reconnaissance and anti-terrorism efforts, showing the critical role of such robots in high-risk environments.
The methodology section outlines our approach to building the robot, detailing each component’s role and the overall system design:
- Drive System (DC Gear Motors): These motors enable locomotion, allowing the robot to move vertically.
- Suction System (BLDC Motor and Propeller): This setup generates the necessary suction force to maintain adhesion to vertical surfaces.
- Bluetooth Control Module: Facilitates wireless control via an Android app, allowing for remote operation.
- Controller (Arduino Uno): Manages motor drivers and processes Bluetooth commands for seamless operation.
The robot’s control strategies involve handling motor functions, suction levels, and responsiveness to Bluetooth commands for stable adhesion and movement.
Figure 3.1: The block diagram illustrates the integration of components, depicting the flow of communication between the controller, motors, and suction system.
This section provides a comprehensive list of the primary components and their functionalities in the wall-climbing robot:
- BLDC Motor: Delivers the required air suction for wall adherence.
- Gear Motors: Drive the vertical movement with controlled speed.
- Bluetooth Module: Enables communication between the robot and the controller.
- Electronic Speed Controller (ESC): Regulates motor speed and power, ensuring controlled movement.
Each component is carefully selected to balance power efficiency, control accuracy, and payload capacity for effective wall climbing.
The robot was subjected to a series of tests to evaluate:
- Adhesion Strength: The suction system’s capability to maintain stable adherence to vertical surfaces.
- Maneuverability: The ability of the gear motors to provide controlled, smooth movement.
- Responsiveness: Consistent reaction to Bluetooth commands sent from the Android app.
These tests confirmed that the robot performs as expected, with reliable adhesion and efficient movement on vertical surfaces.
The wall-climbing robot successfully demonstrated the ability to adhere to and maneuver along vertical surfaces. Key outcomes include stable adhesion, responsive control, and effective maneuverability. Future improvements could focus on:
- Power Optimization: Enhancing battery life for prolonged operation.
- Payload Capacity: Enabling the robot to carry additional tools or sensors.
- Control Precision: Further refining the control system for smoother, more precise movements.