Design 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 help of passive joints on its ankle and a silent vacuum generator. Design of the mobile system is first described. Then the analyses of the torque on each joint and the structure design of them, as well as the vacuum producer are presented in detail. Finally, the kinematics model of robot is also established.