This paper deals with the wall climbing robot with magnetic passive wheels. The proposed robot consists of two driving wheels and 4 passive wheels with magnetic tire. The passive wheel is made by the combination with a suspension mechanism, a caster mechanism and a magnetic tire. The introduced passive wheel enables that the robot rides over a step or gap. At the result of experiments by the prototype, performance of smooth movement on the steel wall and riding over the 10mm gap is confirmed. The caster additionally realized the smooth change of direction.
展开▼
