Development and Validation of a 3d Force and Moment Balancing Simulation Software for Evaluating Wall Climbing Robots on Varied Surfaces

Abstract This paper presents the development and validation of a software tool for evaluating the performance of wall climbing robots across a wide spectrum of orientations, surfaces, and surface curvatures. Utilizing a three-dimensional force and moment balancing algorithm, the software predicts potential failure modes pertinent to various designs and adherence modalities of wall climbing robots. The algorithm’s architecture enables it to accommodate different surface types, robot configurations, and adherence mechanisms, making it a versatile tool for robotic research and development. The accuracy of the simulation is validated through experimental testing with a suction-based wall climbing robot developed to inspect horizontal dry cask storage cylinders for spent nuclear fuel. Additionally, the paper illustrates the software’s extensibility by adapting the algorithm for a magnetic wall climbing robot utilized on vertical tanks in the Oil and Gas industry, showcasing its broad applicability in enhancing the design and performance of robotic systems. The findings not only highlight the critical role of geometric and mechanical parameters in robot performance but also offer insights into optimizing robot designs for improved functionality and reliability. This tool has been made available to the robotics and design community, facilitating the advancement of wall climbing robots for industrial and research applications.