Design of a Quadruped Wall-Climbing Robot (WCR) with a Three-Row Opposed Gripping Mechanism

The three-row opposed gripping mechanism has good adhesion on the rough surface. This paper proposes the design of a quadruped climbing robot with this gripping mechanism. The robot is simplified by imitating the body structure of gecko, and its degree of freedom is demonstrated. The trotting gait is adopted as the climbing mode of the robot. The feasibility of the mechanical structure and gait scheme is verified by simulation. A prototype of the robot is made, with a total weight of 2778.8g. Finally, a preliminary experiment is carried out on a rough vertical wall, and the robot can grasp on the wall with four feet.