Design and Testing of a Novel Adhesion and Locomotion Method for Wall Climbing Vehicles

Author

Jim R. Stefani, California Polytechnic State University, San Luis ObispoFollow

DOI: https://doi.org/10.15368/theses.2016.74
Available at: https://digitalcommons.calpoly.edu/theses/1604

Date of Award

6-2016

Degree Name

MS in Mechanical Engineering

Department/Program

Mechanical Engineering

Advisor

Thomas Mackin

Abstract

The objective of this project was to design, construct and test a wall climbing vehicle which uses a novel vacuum tread system for both adhesion and locomotion. The design and manufacturing of this proof of concept vehicle is detailed with particular emphasis on the design decisions that proved most impactful to the performance of both the vehicle and the tread system. Adhesion performance was characterized by a series of tests that validate the concept, but also identify improvements and design recommendations for future embodiments of the adhesion/locomotion system.