Investigation of the motion of a vibration-driven robot on a vertical ferromagnetic surface

A mathematical model of the motion of a vibration-driven robot on a vertical metallic surface due to an adhesive electromagnetic device and rotation of unbalanced masses built into the robot’s body is constructed. The motion principle is described in detail and a design scheme of the robot is presented. As a result of computational experiments, the laws of the robot’s motion are established. The parameters that most affect the motion are determined.