Abstract
Robotics has emerged as an inevitable technology playing a vital role meeting lots of applications, especially when the industrial application is considered it contributes more towards the sustainable development goal number 9. To be more précised the wall climbing robots plays major role in industrial application meeting the demands of the industry such as performing nondestructive testing on vertical walls, vessels etc. There are two major features which has to be considered while designing Wall Climbing Robots. One is payload and the other one is self-weight. It is important to consider these parameters for the efficient performance of Wall climbing Robots. These wall climbing robots should be able compact and able to travel any direction for industrial applications like testing, cleaning, painting and for any other industrial applications. In this paper, an attempt is made to design and fabricate an omnidirectional Bi-Wheeled Wall Climbing Robot (BWWCR). A mathematical calculation using free body diagram is also presented to validate the theoretical required adhesive force. The simulation software named Coppelia Sim is used for designing the bot and the static and dynamic payload testing done with fabricated hardware is compared with that of simulated software. Software named Finite Element Magnetic Methods (FEMM) is used to study the flow of magnetic flux density throughout the surface and the stability of the bot while climbing with change in direction is also studied through the software named Edge impulse.
Keywords: Bi-Wheeled Wall Climbing Robot (BWWCR), Coppelia Sim, Edge Impulse Software, FEMM, Free Body Diagram.