sign and fabrication of vacuum assist wall climber

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International Journal of Mechanical Engineering and Technology (IJMET)Volume 8, Issue 5, May 2017, pp.

Available online at http://www.iaeme.com/IJME

ISSN Print: 0976-6340 and ISSN Online: 0976

© IAEME Publication

DESIGN AND FABRICATION

ASSIST WA

Chikesh Ranjan, Shahid.

Dept. of Mechanical Engineering, RTC Institute of Technology, Anandi, Ormanjhi, Ranchi,

ABSTRACT

In order to perform maintenance on the outer walls of a high

rescue, inspection of high pipes and wall, evaluation and dia

in nuclear including sweeping, painting and repairs, a device that enables the easy

attachment/detachment of working equipment such as a gondola to the outer wall of a

building is necessary. Though vacuum suction pads can be used t

a vertical wall easily and without causing damage to the contact surface, their suction

force should be designed by considering both external conditions and the loads of

working equipment. In this project, we performed a basic experim

suction force of suction pads attached to a vertical wall under various load conditions.

Key words: Vacuum Suction Force, Suction Pads, High

Wall, Fastening Equipment

Cite this Article: Chikesh Ranjan, Shahid.J.Akhtar, Ajit Kumar Choudhary, Vivek

Vishal Jaysawa Design and Fabrication of Vacuum Assist Wall Climber

Journal of Mechanical Enginee

http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=8&IType=5

1. INTRODUCTION

It has long been a dream of man to possess the power to walk up vertical surfaces. Now

vacuum assist wall climber will fulfil this dream of climb over a vertical surface against the

gravity which may provide some super human abilities to normal human. This is a wall

climbing machine which uses its vacuum pumps to produce a grip against the wall surfaces. It

is worn like a backpack, can climb up to any height on any surfaces

rock-without a rope. But the most important element was to come up with technology

grip to any vertical surface. So we developed the vacuum assist wall climber, which is made

from two suction pads and household vacuum pump. The pads, unsurprisingly, form an

airtight seal when pressed against a vertical surface which is strength

the vacuum. It can also be operated hands

device without falling to the ground.

is used include materials handling, lamping

materials-handling applications, a pneumatic vacuum can be used to lift smoothly objects that

have a flat surface and are not more than several hundred kg in weight. A materials

IJMET/index.asp 365 [email protected]

International Journal of Mechanical Engineering and Technology (IJMET) 2017, pp. 365–371, Article ID: IJMET_08_05_039

http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=8&IType=5

6340 and ISSN Online: 0976-6359

Scopus Indexed

SIGN AND FABRICATION OF VACUUM

ASSIST WALL CLIMBER

.J.Akhtar, Ajit Kumar Choudhary, Vivek Vishal Jaysawa

Dept. of Mechanical Engineering, RTC Institute of Technology, Anandi, Ormanjhi, Ranchi,

India.

In order to perform maintenance on the outer walls of a high-rise building, fire

rescue, inspection of high pipes and wall, evaluation and diagnosis of a storage tank



building is necessary. Though vacuum suction pads can be used to fasten equipment to



working equipment. In this project, we performed a basic experiment on the vacuum


Vacuum Suction Force, Suction Pads, High-rise Building, Vertical Outer

Wall, Fastening Equipment.

Chikesh Ranjan, Shahid.J.Akhtar, Ajit Kumar Choudhary, Vivek

Vishal Jaysawa Design and Fabrication of Vacuum Assist Wall Climber

Journal of Mechanical Engineering and Technology, 8(5), 2017, pp. 36

com/IJMET/issues.asp?JType=IJMET&VType=8&IType=5

of man to possess the power to walk up vertical surfaces. Now



ne which uses its vacuum pumps to produce a grip against the wall surfaces. It

is worn like a backpack, can climb up to any height on any surfaces- including glass, brick or

without a rope. But the most important element was to come up with technology



airtight seal when pressed against a vertical surface which is strengthened by the suction from

It can also be operated hands-free, allowing a soldier to wield a weapon or other

device without falling to the ground. This is Industrial applications, where a vacuum pressure

is used include materials handling, lamping, sealing and vacuum forming. In terms of

handling applications, a pneumatic vacuum can be used to lift smoothly objects that

have a flat surface and are not more than several hundred kg in weight. A materials

[email protected]

T&VType=8&IType=5

OF VACUUM

Vivek Vishal Jaysawa Dept. of Mechanical Engineering, RTC Institute of Technology, Anandi, Ormanjhi, Ranchi,

rise building, fire

gnosis of a storage tank



o fasten equipment to



ent on the vacuum


rise Building, Vertical Outer

Chikesh Ranjan, Shahid.J.Akhtar, Ajit Kumar Choudhary, Vivek

Vishal Jaysawa Design and Fabrication of Vacuum Assist Wall Climber. International

65–371.

com/IJMET/issues.asp?JType=IJMET&VType=8&IType=5

of man to possess the power to walk up vertical surfaces. Now



ne which uses its vacuum pumps to produce a grip against the wall surfaces. It

including glass, brick or

without a rope. But the most important element was to come up with technology that can



ened by the suction from

free, allowing a soldier to wield a weapon or other

This is Industrial applications, where a vacuum pressure

, sealing and vacuum forming. In terms of

handling applications, a pneumatic vacuum can be used to lift smoothly objects that

have a flat surface and are not more than several hundred kg in weight. A materials-handling

Design and Fabrication of Vacuum Assist Wall Climber

http://www.iaeme.com/IJMET/index.asp 366 [email protected]

application where a vacuum cup called a suction cup is used to establish the force capability

to lift a flat sheet. The cup is typically made of a flexible material such as rubber so that a seal

can be made where its lip contacts the surface of the flat sheet. A vacuum pump is turned on

to remove air from the cavity between the inside of the cup and top surface of the flat sheet.

As the pressure in the cavity falls below atmospheric pressure, the atmospheric pressure

acting on the bottom of the flat sheet pushes the flat sheet up against the lip of the cup. This

action results in vacuum pressure in the cavity between the cup and the flat sheet that causes

an upward force to be exerted on the flat sheet. The magnitude of this force can be

determined by algebraically summing the pressure forces on the top and bottom surfaces of

the flat sheet. The atmospheric pressure on the top and bottom surfaces of the flat sheet

cancels out away from the outer circle area of the cup lip. If all the air were removed from the

cup cavity, we would have a perfect vacuum and thus the suction pressure would be equal to

zero in absolute pressure units

2. COMPONENTS OF VACUUM ASSIST WALL CLIMBER

Vacuum pump

2.2. Electric source

2.3. Pipelines

2.4. Suction pads

3. DESIGN PARAMETER

The main parameters in the design are maximum normal force at suction pad, maximum

altitude of operation of equipment and co-efficient of frication of the friction material. In

order to find the maximum normal load acting on the equipment, the vacuum pressure

generated by the motor is measured. A vacuum gauge is used for finding the pressure at the

suction end.

Vacuum pressure at the end of the suction line

= 200mmHg (mm of mercury)

= 200mmHg = 0.26675 bar.

Standard atmospheric pressure (P.atm) = 1.013 bar

Absolute pressure at the end of suction line (Pab)

= (Standard atmospheric pressure) – (vacuum pressure at the end of suction line).

= (1.013 – 0.2667)

= 0.7462 bar.

3.1. Area of suction pad

Inside area = 0.33 × 0.25 m2

= 0.082 m2

Outside area = 0.38 × 0.30 m2 = 0.114 m

2

3.2. Pressure Force

Pressure Force = Pout × A out – Pin × A in

= (1.013 × 0.114 - 0.7462 × 0.082)

= (0.115 – 0.062)

= 0.0530 × 105 N

= 5300 N

Chikesh Ranjan, Shahid.J.Akhtar, Ajit Kumar Choudhary, Vivek Vishal Jaysawa


3.3. Maximum normal load

Maximum normal load (in kg) = 5300/ 9.8

= 540.81 ~ 500 kg.

There is a safe altitude up to which the equipment can safely operate. Also it depends

upon the load acting on equipment. Since he machine has an ultimate normal load capacity of

500 kg, margin of 200 kg is given. SO the ultimate is 300 kg.

3.4. Safe load

Safe load 150 kg can be assumed

4. DESIGN FORMULA

Horizontal suction pads, vertical force.

F th = m × (g + a) × f .s

Vertical suction pads, vertical force.

F th = m × (g +a/f) × f .s

Where,

F th =Theoretical holding force [N]

m = mass [kg]

g = acceleration due to gravity [9.81 m/s2]

a = system acceleration [m/s2] [max x, y & z axis = 5 m/s2]

f.s = factor of safety [ min=1.5 ,max =2.0 ]

f = co-efficient of friction

5. DESIGN AND FABRICATION

5.1. Modeling Using CATIA

CATIA V5, developed by Dassault Systemes, France, is a completely reengineered,

next-generation family of CAD/CAM/CAE software solutions for Product Lifecycle

Management. Through its exceptionally easy-to-use state of the art user interface, CATIA V5

delivers innovative technologies for maximum productivity and creativity, from concept

to the final product. CATIA V5 reduces the learning curve, as it allows the flexibility

of using feature-based and parametric designs.

The final Design of the Vacuum Assist Wall Climber with a tooling device on it is

modelled in CATIA V5 R19.

Design and Fabricatio

http://www.iaeme.com/IJMET/index.

5.2. FABRICATION

A physical prototype is being fabricated by using low cost, low weight

available in market to give a rough idea of how the robot will be and how it will work

Part

No.

Part Name

1. Suction Pad

2 Vacuum Pump

3 Handle

4 Pedal

5 Rope for Pedal

6 Pipeline

7 Switch

8 Bag pack

9 Electric Wire

10 Plug (Male-Female)

11 Extension code


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Figure 2D Design of suction pad

Figure 3D Design of suction pad

A physical prototype is being fabricated by using low cost, low weight materials which are


Table 4.1 Parts Used for Fabrication

Materials

Used

Manufacturing

Method

Specifications

wood Manual operations 38×30×2.5mm

Plastic - 1400W flow rate 5.3 ltr/sec

Steel Manual operations 15×1×0.5 cm

wood Manual operations 20×15×1.5 cm

plastic - Length-100cm

Plastic - Diameter-4cm

Length-140cm

Plastic - 6A

Cloths 50×45×25 cm

copper - 400 cm

Female) Plastic -

- - 50 Meter

[email protected]

materials which are


Specifications No of

Parts

38×30×2.5mm 2

flow rate 5.3 ltr/sec 2

15×1×0.5 cm 2

20×15×1.5 cm 2

100cm 2

4cm

140cm

2

2

50×45×25 cm 1

1

- 3

1



6. EXPERMENTAL SET UP

Figure 4.1 Suction Pad

Figure 4.2 Vacuum Pump Figure 4.3 Pedal

Figure 4.4 Vacuum assist wall climber assemblies Figure 4.5 Bag for vacuum pump



Figure 4.6 Testing with two vacuum pads

6. CONCLUSION

From our work and this research paper, we can conclude that vacuum assist wall climber is

not only efficient but best option for the wall climbing .This assist wall climber gives chance

to carry heavy work to the climb. We make the entire system with less weight and aesthetics

and ergonomic consideration this assist wall climber reduce the human efforts .This project is

cheaper and its production cost will reduce more if it produce in large scale.

7. FUTURE RESEARCH SCOPE

In future research we can use battery supply to the vacuum pumps so the chances of the

failure of the vacuum can be minimized. We can reduce the system self-weight by using light

weight material for the pads. Chances of the leakage in the pads are minimize by using high

quality seals

REFERENCES

[1] Avvaru Subramanyam, Y.Mallikarjuna , S.Suneel , L. Bhargava Kumar "Design And

Development Of A Climbing Robot For Several Applications"

[2] Manuel F. Silva and J. A. Tenreiro Machado ISEP - Instituto Superior de Engenharia do

Porto PortugalA Survey of Technologies and Applications for Climbing Robots

Locomotion and Adhesion

[3] Vacuum and pressure system Handbook, Gast Manufacturing, Inc A Unit of IDEX

Corporation PO BOX 97.

[4] Guido La Rosa, Michele Messina, Giovanni Muscato, R. Sinatra, "A low-cost lightweight

climbing robot for the inspection of vertical surfaces", Mechatronics, Vol 12, pp. 71-96,

2002.



[5] Nishi A., “A biped walking robot capable of moving on a vertical wall”, Mechatronics,

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[6] Nishi A., “Development of wall-climbing robots”, Compute Electron Eng, Vol. 22(2), pp.

123-149, 1996.

[7] Nishi A., Miyagi H., “A wall climbing robot using the thrust force of a propeller

mechanism and control in a strong wind”, JSME Int J Ser C, Vo1. 37, pp. 172-178, 1994.

[8] Tejaswini N, Poorna Sai R, Reddy Babu Naik B and Naveen G, Design and Analysis of

Large Transportable Vacuum Insulated Cryogenic Vessel. International Journal of

Mechanical Engineering and Technology, 7(6), 2016, pp. 45–57.

[9] V. V. Wadkar, S.S. Malgave, D.D. Patil , H.S. Bhore and P. P. Gavade, Design and

Analysis of Pressure Vessel Using Ansys. Journal of Mechanical Engineering and

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[10] Hwang Kim, Dongmok Kim, Hojoon Yang, Kyouhee Lee, Kunchan Seo, Doyoung

Chang, Jongwon Kim, "A wall climbing robot with a vacuum caterpillar wheel system

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sign and fabrication of vacuum assist wall climber

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