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The purpose of this paper is to design a miniature wall climbing robot with biomechanical suction cups actuated by shape memory alloy (SMA) actuators.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>Based on characteristics of biologic suction apparatuses, the biomechanical suction cup is designed first. Theory analysis of the suction cup is made considering elastic plate's deflection and SMAs constitutive model. A triangular close linkage locomotion mechanism is chosen for the miniature robot because of its simple structure and control. The robot's gait, kinematics, and control system are all illustrated in this paper.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Experiments indicate that the suction cup can be used as an adhesion mechanism for miniature wall climbing robots, and the miniature robot prototype with biomechanical suction cups can move in straight line and turn with a fixed angle on an inclined glass wall.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>This paper describes how a miniature wall climbing robot with biomechanical suction cups actuated by SMA without any air pump is designed.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910994623","type":"journal-article","created":{"date-parts":[[2009,10,24]],"date-time":"2009-10-24T07:03:33Z","timestamp":1256367813000},"page":"551-561","source":"Crossref","is-referenced-by-count":21,"title":["A miniature wall climbing robot with biomechanical suction cups"],"prefix":"10.1108","volume":"36","author":[{"given":"Bingshan","family":"Hu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liwen","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanzheng","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Z.","family":"Fu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022032119501858600_b1","doi-asserted-by":"crossref","unstructured":"Aksak, B., Murphy, M.P. and Sitti, M. 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