Development and Experimental Evaluation of a Vibration-Based Adhesion System for Miniature Wall-Climbing Robots

In recent years, miniature wall-climbing robots have attracted widespread attention due to their significant potential in equipment inspection and in-situ repair applications. Traditional wall-climbing systems typically rely on electromagnetic, electrostatic, vacuum suction, or van der Waals forces for controllable adhesion. However, these conventional methods impose limitations when striving for both a compact design and high-speed mobility. This paper proposes a novel Vibration-Based Adhesion (VBA) technique, which utilizes a flexible disk vibrating near a surface to generate a strong and controllable attractive force without direct contact. By employing an electric motor as the vibration source, the constructed VBA system was experimentally evaluated, achieving an adhesion-to-weight ratio exceeding 51 times. The experimental results demonstrate that this adhesion mechanism not only provides a high normal force but also maintains minimal shear force, making it particularly suitable for high-speed movement and heavy load applications in miniature wall-climbing robots.