On Mechanics of Climbing Robot

The paper is devoted to the climbing robot developed in the Institute for the problems in Mechanism, USSR Academy of sciences. This robot has a number of pneumatic grippers and can ove along vertical walls. Several versions of this robot were created which can be used for purposes of inspection, painting, cutting, maintenance, fire fighting etc. conditions of equilibrium of the robot on a wall are discussed. both rigid and flexible structures of robots subject to different external forces and torques including dry friction are considered. maximal loads are estimated that the robot can carry maintaining reliable contact with the surface of the wall.