DOI: https://doi.org/10.15368/theses.2017.117
Available at: https://digitalcommons.calpoly.edu/theses/1800
Date of Award
6-2017
Degree Name
MS in Mechanical Engineering
Department/Program
Mechanical Engineering
Advisor
Thomas Mackin
Abstract
We present the design and fabrication of a prototype wall-climbing vehicle employing a unique combined locomotion and adhesion system in which the adhesive vacuum is transmitted through moving, perforated treads. Implementing the adhesion/drive system involved a broad range of design challenges, including: developing reliable sealing of sliding and static interfaces, understanding the frictional interactions between the drive treads and various vehicle components and surfaces on which they ride, as well as designing for lightness, manufacturability, and adjustability. The clean sheet design presented in this thesis was taken from concept to functioning prototype in less than 6 months, requiring a considered mix of off-the-shelf components, custom fabrication, and outsourced production. Proof of concept testing is reviewed, including static pressure and force results as well as dynamic vertical surface maneuverability trials.