The 5th International Symoosium on Robotics in Construction June 6-8,1988 Tokyo, Japan

There is a great need for the development of a robot to perform painting and cleaning of high-rise buildings and tanks and similar dangerous tasks. The Mechanical Engineering Laboratory has been developing a wall cl i rnbing robot (kAEL-SPIDER) which can adhere to rough-finished walls using vacuum suction cups and can move up and down as well as to the right and left. Two prototypes were studied: a separate type (MSIII and a self-contained type IMSIII). For the separate type. the power/control unit was set on the ground separated from the main mobile unit. Power and control signals were supplied to the main mobile unit. by pneumatic tubes and electric cables. The MSII has eight legs and each leg terminates with a vacuum suction cup. Each cup comprises a metallic. disk with a closed-cell foamed rubber staling ring around the edge. The vacuum for the suction cup is supplied by a vacuum pump in the power./control unit. The eight legs are in two groups of four legs each. Climbing is achieved by moving the two groups alternately while synchronizing the suction and release control signals for their suction cups. Movement is achieved by DC servo motors. The B1ISII weighs 17 kg and its dimensions are 85 cm(L) 55 cm (b?) 25 cm(H). Climbing experiments on vertical walls of concrete buildings were successful. and many points to be unproved concerning adhering and climbing methods were found. These improvements were incorporated in the development of the MS III vrhich c•arries all devices inu1aiding the power source and controlIer. The PAS III uses an engine to drive )loth a generator and vacuum pump and its movement is remotely controlled by the operator. The MSIII weighs 25 kg and its dimensions are 100 cm (L) 58 cm(W) :32 cm(H). Climbing tests on the walI were successful. and the technical possIhiIIty of this moving method on vertical walls was presented.