This paper focuses on the design of track-type climbing robots using dry adhesives to generate tractive forces between the robot and climbing surface to maintain equilibrium while in motion. When considering the design of these climbing robots, there are two primary elements of focus: the adhesive mechanisms at the track-surface interface and the distribution of these forces over the full contact surface (the tracks). This paper will present an approach to integrate a generic adhesion model and a track suspension system into a complete model that can be used to design general climbing robot systems utilizing a broad range of dry adhesive technologies.

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