Holding force for a climbing robot is of paramount importance and has been intensely investigated in the last decade. Emphasis of this project has been on minimizing energy expenditure, increasing payload and traversing different wall materials. To achieve this two important factors have been identified for pneumatics based holding pads, namely pressure and height from surface. This paper presents the characterisation of these parameters that influence holding force in a Bernoulli pad for the purpose of optimising energy expenditure. An experimental identification of a mathematical model for a Bernoulli principle based holding force is described. Force analysis through experimental verification for a commercially available Bernoulli pad model was done, so as to quantitatively evaluate parameters of the pad to achieve attachment on a wall. Factors that influence the holding force, such as air velocity and height of pad from surface were experimentally investigated and their cause and effect established. The cause and effect of these parameters were confirmed through regression analysis using Matlab R2016a. Close correspondence between the experimental and simulated results indicated that the developed model is accurate enough for design and implementation of an optimum force for climbing robot. The methods proposed in this study are valuable in guiding the design of pneumatic based adhesion devices, such as wall-climbing robots.

Background: The advancements in robotic technology have completely revolutionized day-to-day life. In industrial applications, the implementation of robotics is quite advantageous as it may help in performing dangerous tasks like climbing high walls, working in a high-temperature environment, high radiation exposure conditions etc Method: This paper presents the design and development of a wall-climbing robot for dam wall inspection using an adaptive aerodynamic adhesion technique. The optimization of a robot design is done using a differential evolutionary algorithm. Result: In the proposed model, the principle of Bernoulli adhesion is used for designing the suction pad. The optimization of various variables is done using a differential evolutionary algorithm to improve the efficiency and effectiveness of the wall climbing robot adhesion. Conclusion: The results of the proposed system show that the approach can find an optimal holding force and can be effectively used for applications like dam wall climbing for inspection.

A semi-automated de-lidding machine which removes lids from baking pans was designed. Modeling of the design was done using mechanical design calculations. The results were simulated using AUTODESK for Finite Element Analysis to validate the model. Centered on technology transfer and the national economic recovery blueprint under the value addition and beneficiation cluster, this research aims to automate and hence improve productivity in bakeries using mechanical design calculations and finite element analysis. The machine has a picking and placing unit that uses electromagnetism, coupled with a chain for material handling and a control circuit. The automated system comprises of pneumatic cylinders, electromagnet, banner sensor and conveyor chain. The machine was able to increase the lid removal rate by 26%.