Design and Development of a Vertical Propagation Robot for Inspection of Flat and Curved Surfaces

This paper introduces a wheel-based vertical propagation robot, $Ibex$ , for visual inspection of both flat and curved surfaces. The platform is modular, consisting of vacuum-based adhesion modules and steerable-wheel locomotion modules. The adhesion module consists of a unconventional design of suction cup with sufficient structural flexibility and single-axis translation freedom that helps with adhesion to flat and curved vertical surfaces. Through experiments, we validate the locomotion, adhesion, and conformation mechanisms of the robot, and collated data of the adhesion module such as differential pressure as well as normal force measurements using force sensitive resistors and a thrust force meter. We show that the platform has ability to generate a considerable amount of adhesion force while demonstrating the ability to adhere to and move on variables types of surfaces as well as various surface curvatures including plastered cement pillars and aircraft skins.