Design and Passable Ability of Transitions Analysis of a Six Legged Wall-Climbing Robot

A new type of six legged wall-climbing robot with modular joints for the anti-terrorist field is proposed in this paper. It can move quickly and quietly with the help of passive joints on its ankle and the silent vacuum generators. Design of the vacuum producer is presented at first. Then the analyses of the torque on each joint and the structure design of them are presented in detail. Finally we analyze the passable ability of the transition using kinematics for enhancing the performance of the robot.