The P2 designed in order to improve problems mentioned in chapter 4 and in order to realize the mobility that robot can be applied to the practical use.
The hold principle and the turn mechanism of P2 basically followed PI's. Main reconsidered points are follows:
Actuator is changed from a stepping motor to a DC geared servo motor.
In order to lose the gap of a suction cup surface and drive wheels and in order to give suitable normal component of reaction at drive wheels always, the suspension mechanism using the thin board spring is installed as shown in Fig. 7.
A pressure regulator is installed in order to control the pressure in a suction cup, and in order to achieve secure suctioning and smooth mobility.