Thruster-aided steep-wall climbing

 

Motomatic WCR-001, June 17th 2003
Motomatic WCR001 in action!
 Motomatic system WCR(Wall-climbing robot)-001 in operation. Assembled on June 17th 2003. It can stay on steep inclined surfaces with the help of the propeller. The propeller thrust provides both surface-normal force for increasing traction and surface-parallel lift. 

Neoprene feet on #150 sandpaper surface » 85º inclination
Neoprene feet on wood » 60º inclination
 
WCR001 at rest Mass: 186g (without battery)
Motor: Graupner Speed 400 (7.2V)
Propeller: Zagi Propellers #PR301
Battery: Sanyo RC2400 6F (2400mAh, 7.2V) 

Current measured: 1.4A
Voltage measured: 6.8V
Calculated power consumption: approx. 10W

Propeller thrust: 1.6N
(45º thrust: 1.1N)
back side of WCR001 Feet are three small patterned neoprene pads.

Hopefully, we can improve the system so that it can carry the weight of the batteries as well. We can try (1) improving feet, (2) covering the fan with a duct, (3) look for lighter batteries, (4) lighter components, (5) optimize geometry, e.g. feet location and center of mass.

 
Motomatic WCR-002, July 1st 2003
this can hold the battery weight as well With the new smaller battery shown in the picture, it weighs 225g total and can support itself on a vertical glass window!!! 

Geometry and battery have been improved, but they can be ameliorated further. More research needed on the battery and analysis on feet positioning.

Putting a duct around the fan lowered the thrust. the fan is not designed to be used with a duct. (Experiment done by Tiffany Card)