Design of a Gecko Inspired End Effector for Multi-Terrain Legged Wall Climbing Robots

This work introduces a wall-climbing robot designed in Autodesk Fusion360, featuring a novel gecko-inspired adhesive foot incorporated with passive adhesive technology rather than relying on active adhesive mechanisms. Various simulations conducted in Fusion360 validate structural robustness under heavy loads. The mathematical modeling conducted involves the calculation of DH parameters, forward kinematics, and bond and peel forces. The manual PI-controlled movement system for the end effector demonstrates fine-tuned control, emphasizing the potential of climbing robots in various applications ranging from structural inspection to maintenance. Finally, the successfully constructed hardware model of a single end effector concludes the study, highlighting the functionality of bio-inspired wall climbing robots' pivotal role in multiple relevant industries.