According to the motion characteristic of suction cup on the wall, there are two kinds of WCRs with the general suction cup and the sliding suction cup (SSC), respectively.

• 根据吸盘的壁面运动特点分类,WCR可分为带普通吸盘和带滑动式吸盘(Sliding Suction Cup,SSC)两种机构形式。