Abstract
This thesis aims to identify and address the issues surrounding current state-of the-art curved surface propagation robots, and proposes a partial-vacuum adhesion, wheel-based vertical propagation robot, Ibex, in an attempt to solve some of these is sues. The thesis will go through a literature review, before setting design requirements for the new system. Ibex in its current state is described, and force modelling done on the system. Experiments were conducted to validate its adhesion and locomotion capabilities. While it is able to hold on the surface of a curved surface well, future work is required to ensure smooth and reliable locomotion. An active conformation model is also proposed