Cover
Vol. 21 No. 2 (2025)

Published: December 16, 2025

Pages: 196-205

Original Article

Design and Implementation of a Climbing Robot Limb for Clinging to RoughWalls

Mohammed Jodah 1 Mofeed Rashid 2 Raed Batbooti 3
1Electrical Engineering Department, University of Basrah, Basrah, Iraq Computer Engineering Department, University of Basrah, Basrah, Iraq
2Electrical Engineering Department, University of Basrah, Basrah, Iraq
3Thermal Mechanical Engineering Department, Southern Technical University, Basrah, Iraq
History
  • Received: March 9, 2024
  • Revised: May 3, 2024
  • Accepted: May 5, 2024
  • Available Online: February 10, 2025
DOI

https://doi.org/10.37917/ijeee.21.2.19

Abstract

In recent years, the urgent need for robotics applications in various sensitive work areas and high buildings has led to a significant development in the design of robots intended for climbing rough surfaces. Where, attention became focused on the ideal clinging mechanism. In this paper, a gripper of the climbing robot has been designed to achieve clinging on rough walls. The objective of this design is to be lightweight with high performance of clinging, therefore, a robot gripper has been designed based on a model of a limb inspired by the hand and claws of a cat, in which the robot claws were implemented by fishing hooks. These hooks are arranged in an arc so that each hook can move independently on the wall’s surface to increase the force of clinging to the rough wall. SolidWorks platform has been used to design the clinging limb and implemented using a 3D printer. In addition, the proposed design has been validated by performing several simulations using the SolidWorks platform. Experimental work has conducted to test the proposed design, and the results proved the success of the design.

Keywords

References

  1. P. Pradhan, Design and Application of a Legged-Wall Climbing Robot. Asian Institute of Technology, School of Engineering and Technology: Thailand, 2015.
  2. M. F. Silva, J. A. Tenreiro, K. Oka, and J. K. Tar, “A survey of technologies for climbing robots adhesion to surfaces,” in IEEE 6th International Conference on Computational Cybernetics, November 2008.
  3. G. Fang and J. Cheng, “Advances in climbing robots for vertical structures in the past decade: A review,” Biomimetics, vol. 8, 2023.
  4. F. Xu, X. Wang, and G. Jiang, “Design and analysis of a wall-climbing robot based on a mechanism utilizing hook-like claws,” International Journal of Advanced Robotic Systems, vol. 9, 2012.
  5. Y. Lu, K. Zhou3, and N. Ye, “Design and kinemics/ dynamics analysis of a novel climbing robot with tri-planar limbs for remanufacturing,” Journal of Mechanical Science and Technology, vol. 3, pp. 1427–1436, 2017.
  6. A. Laskar, “Wall climbing robots: The artificial lizards of moderns days,” International Journal of Scientific Development and Research, vol. 1, 2016.
  7. M. Akhtaruzzaman and N. L. Samsuddin, “Design and development of a wall climbing robot and its control system,” in International Conference on Computer and Information Technology, December 2009.
  8. Q. Jiang and F. Xu, “Grasping claws of bionic climbing robot for rough wall surface: Modeling and analysis,” Applied Sciences, vol. 8, 2018.
  9. F. Meng, Y. Guo, and F. Xu, “The graspable algorithm for a wall-climbing robot with claws,” Intelligent Robotics and Applications, vol. 11741, pp. 60–71, 2019.
  10. R. Wang and C. Cheng, “Cat-paw-inspired tree climbing robot gripper,” 07 2023.
  11. P. Zi, K. Xu, Y. Tian, and X. Ding, “A mechanical adhesive gripper inspired by beetle claw for a rock climbing robot,” Mechanism and Machine Theory, vol. 181, 2023.
  12. J. Xia, B. Li, K. Ushiroda, and Q. Song, “Rise-rover: A wall-climbing robot with high reliability and loadcarrying capacity,” in IEEE Conference on Robotics and Biomimetics Zhuhai, China, December 2015.
  13. A. Milella, R. Maglietta, M. Caccia, and G. Bruzzone, “Robotic inspection of ship hull surfaces using a magnetic crawler and a monocular camera,” Sensor Review, vol. 37, pp. 425–435, 2017.
  14. M. Eich, F. Bonnin, E. Garcia, and A. Ortiz, “A robot application for marine vessel inspection,” Journal of Field Robotics, vol. 31, pp. 319–341, 2014.
  15. A. Sintov, T. Avramovich, and A. Shapiro, “Design and motion planning of an autonomous climbing robot with claws,” Robotics and Autonomous Systems, vol. 59, pp. 1008–1019, 2011.
  16. M. Y. Hassan, Design and Implementation of an Autonomous Climbing Robot. College of Engineering University of Basrah, 2019.
  17. R. Li, S. Yan, and C. Zhou, “Design of the paw of wallclimbing robot with spiny and sensing function,” Journal of Physics: Conference Series, vol. 2537, 2023.
  18. H. Liu, Q. Huang, and W. Zhang, “Cat-inspired mechanical design of self-adaptive toes for a legged robot,” International Conference on Intelligent Robots and Systems, vol. 1, pp. 2425–2430, 2016.
  19. B. Nisbett, Mechanical Engineering Shigley’s Mechanical Engineering Design. McGraw-Hill Primis, 2008.
  20. J. Steffen, Analysis of Machine Elements using Solid-Works Simulation 2011. SDC Publications, 2022.