Development of a wall-climbing robot using a tracked wheel mechanism

@article{Kim2008DevelopmentOA,
  title={Development of a wall-climbing robot using a tracked wheel mechanism},
  author={Hwang-Soo Kim and Dongmok Kim and Ho-Jung Yang and Kyo-II Lee and Kunchan Seo and Doyoung Chang and Jongwon Kim},
  journal={Journal of Mechanical Science and Technology},
  year={2008},
  volume={22},
  pages={1490-1498}
}
In this paper, a new concept of a wall-climbing robot able to climb a vertical plane is presented. A continuous locomotive motion with a high climbing speed of 15m/min is realized by adopting a series chain on two tracked wheels on which 24 suction pads are installed. While each tracked wheel rotates, the suction pads which attach to the vertical plane are activated in sequence by specially designed mechanical valves. The engineering analysis and detailed mechanism design of the tracked wheel… 
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