Climbing robot, brain storming

This project is an ongoing rapid prototype which is under development by Puya Afsharian & me …

Requirements :

4 x step motor
4 x El. Magnet
1 x Arduino
1 x Thin Aluminium plate

Components :

Magnet #1
Magnet #2
Magnet #3

Motor #1-1
Motor #1-2
Motor #2-1
Motor #2-2

Algorithm & states :

• Initial state :
  Mag. 1,2,3 -> ON
  Motor 11,12,21,22 -> OFF
• Lift state :
  Mag3 -> OFF
  Mag 1,2 -> ON
  Motor 12, 22 -> CCW ON
  Mag3 -> ON
• Move Up Right state :
  Mag2 -> OFF
  Motor 11 CW ON MAX
  Motor 12  CW ON -> Vertical(Parallel with chassis)
  Mag 2 -> ON
• Move Up Left state :
  Mag1 -> OFF
  Motor 21 CW ON MAX
  Motor 12  CW ON -> Vertical(Parallel with chassis)
  Mag 1 -> ON

and again to Lift state

Walloid

Walloid is my master thesis at university of Oslo. A climbing robot that can climb the walls and walk on the roof. The final aim of Walloid is to be a prototype for a real world model that can replace human workers, where it is too dangerous for mankind to operate. The actual thought was to make it even water proof with swimming abilities to make it the best candidate for oil fields in the middle of the sea, in a way that it can swim between different platforms, checks on oil pipes on the way and eventually fix the problems.

Walloid will have several versions which every version would try to reach some expected goals. The version names(C#S#) are the short version of C(limbing)#S(wimming)#. Well the swimming part will not be a part of my master thesis and Walloid C2S0 is the goal for my master project.

• Walloid C1S0 : A remote controlled(through my navigation program) functional walking(on the floor and not the walls or roof) robot.
• Walloid C2S0 : A smart climbing robot which takes its steps autonomously and is controlled totally by the navigation program(monitor its environment by sensors & cameras).
• Walloid C3S0 : A smart climbing robot with image processing abilities.
• Walloid C3S1 : A smart climbing robot with abilities to perform in underwater condition.
• Walloid C3S2 : A waterproof smart climbing robot with swimming abilities.

As said my master project would not exceed Walloid C2S0 and the rest of the plan either will be a hobby/Phd/or even a dream job at an oil field company here in Norway :-)

Wish me lots of luck ...

Shahab.