Vacuum-based wet adhesion system for wall climbing robots -Lubricating action and seal action by the liquid-

This paper presents a vacuum-based wet adhesion system for wall climbing robots. This system allows an adherability and low friction performance when a suction cup adheres on rough surface such as concrete wall with small vacuum pump. It utilizes a seal action and lubrication action of a liquid to make the robot body adherable and slidable on the surface. The measurements of friction and seal performance on rough surface and smooth glass verify the effectiveness of the wet adhesion system we proposed.