K-Track: A Kirigami-Inspired Tracked Robot With Negative Pressure Co-operative Adhesion for Wall-to-Wall Transition

This letter presents a novel wall-climbing robot design that combines kirigami-inspired adhesive tracks with negative pressure absorption, enabling reliable wall-to-wall transitions in complex environments. The kirigami-inspired tracks demonstrate a significant enhancement in adhesion performance, achieving a nearly ninefold increase in maximum peel force from 5 N/m to 49 N/m. By integrating a high-speed rotating fan for preload generation and incorporating a rear supporting structure for torque resistance, the robot achieves stable climbing capabilities across various surfaces. The robot, weighing 30.5 grams, successfully demonstrates internal wall-to-wall transitions and can carry a payload of 20 grams while maintaining stable locomotion. Experimental validations on variable-curvature substrates and real aero-engine stators confirm the robot's ability to navigate complex non-developable geometries for aviation inspection tasks. This research advances the field of wall-climbing robots by introducing an innovative adhesion mechanism that combines the advantages of both bio-inspired and negative pressure absorption methods.