BIT Climber: A centrifugal impeller-based wall climbing robot

This paper introduces a centrifugal impeller-based wall climbing robot “BIT Climber”. First, by statics and dynamics analyses, mechanical parameter optimization directions for general wall climbing robots are presented. A hydromechanical model suitable for all centrifugal impeller-based wall climbing robots' suction system is built, which is important for suction device design. Afterwards the climber's basic configurations of mechanical and electronical structure are described. Finally, the experimental results are given.