A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies

Thesis (M.Eng.) - Asian Institute of Technology, 2000

Up until the present time, The highly building wall has always dangerous to human life who necessarily works on the wall such as wall cleaning, but robotics is a well solution that should be extremely developed to overcoming. A novel, simple wall-climbing robot has been devised and prototyped which has many methods to design robot. This thesis has the purpose to construct and develop a wall climbing robot. Pneumatic system method is mainly to construct the robot which consists of many devices, vacuum generator for holding, pneumatic cylinder for movement, solenoid valves for air line control and others. In mechanic design, the leg mechanism is the main mechanical design task. The leg mechanism has 2 degree of freedom moving in parallel and perpendicular direction with the wall. The robot can move on the wall in diagonal line comparing with its body. The robot control unit is specifically developed for the robot. It composes of 2 main units, 68HC 11 micro controller and interface unit. Lastly, intelligent algorithm is developed by C++ language program that increases robot intelligence.