Modelling and Analysis of a Vertical Wall Robot for Ceiling Inspection

We develop a modular vertical wall climbing robot that uses vision based techniques to inspect the false ceiling. The platform is able to navigate on the complex planar walls with low stepped heights or metallic frames. It consists of three modular suction units, interconnected by a common structure. Each module consists of a suction chamber and the suction chamber is attached to a lifting mechanism. This lifting mechanism helps the platform to transit through the metallic frames on the wall. In this paper, we present mechanical design of the platform, structural analysis and kinematic modeling of the platform. Based on the analytical static force we propose a condition avoiding turning of the platform about its central module. We also propose independent steering of each module, circular movement of Mantis-mini around a point, as well as locomotion using any of the two modules. We provide insights in static- and modal analysis of the structure in various modes of operations, which brings a good study of structural safety of the proposed design. Experimental results shows the ability of the robot to adhere and navigate in the vertical wall maintaining horizontal position of the platform.