GarRobot: Design, Construction and Control of a Teleoperated Climbing Robot Inspired by Geckos

Abstract

Analysis and inspection tasks are increasing more within the industry, especially where the integrity of materials is essential. This is the case of non-destructive testing, where evaluations are required not to damage nor destroy the surfaces, and where tasks may be set in high or narrow environments. This research shows the design, construction, and control of a climbing robot prototype using a structure, movement pattern, and adhesion system inspired by geckos, implementing the Internet of Robotic Things, for the usage in field of non-destructive testing (NDT). The experimental results show that the prototype is structurally stable and coordinated after implementing a movement pattern with three limbs attached at all times, with a determined position according to the kinematic model. The robot demonstrates a payload capacity of 26.2% of its own weight. In addition, the robot scales smooth surfaces with an inclination of up to 90° without leaving a mark or damaging the surface. The graphical interface effectively displays the environment data collected by the robot to the user. As an improvement, the degree of inclination to which the robot can climb can be increased by increasing the torque of the servomotors.