Two-DoF turret mechanism for a rope-driven wheel-legged climbing robot on a 3D façade

Abstract

Current climbing robots for building cleaning and inspection are typically designed for vertical walls. In this study, a novel robot platform is developed to navigate complex 3D building façades with obstacles and slopes. This platform uses an Ascender, equipped with a winch for climbing, and a wheel-legged mechanism for versatile movement. A linear sliding turret (LST) mechanism is introduced to address challenges encountered with Ascender and wheel-legged mechanisms on three-dimensional façades. By controlling the robot's center of gravity, the LST mechanism distributes ground reaction forces (GRFs) across four legs, minimizing damage to the building. It also controls the zero-moment point (ZMP) and tension to stably overcome obstacles. Experimental validation confirmed the robot's stability on various slopes, obstacle negotiation, and balanced GRF distribution. This rope-driven, wheel-legged climbing robot with an LST mechanism demonstrates strong potential for overcoming challenges in diverse, sloped environments.