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The 3rd generation fire truck takes use of compressed gas as spraying medium. By way of the especially designed spraying device in the 3rd generation fire truck, the extinguishing agents mixed with compressed gas uniformly, are spraying to fire fields in microdots with high speed and high flux. The extinguishing agents’ microdots with high kinematic energy can penetrate into the flame and affront the flame with more interface areas. The extinguishing efficiency is improved significantly consequently. In a fire fighting by the 3rd generation fire truck, fire can be extinguished more quickly, larger field of fire can be controlled, water damage and environmental pollution is decreased too. The 3rd generation fire truck can also help positive pressure ventilating, cooling fire, blowing and diluting the toxic smoke, and rescuing persons from the fire. Up to the present, different kinds of the 3rd generation fire trucks have been successfully developed such as turbojet fire truck, water mist fire truck, compressed air-foam A/B fire truck, aerosol fire truck, compound spraying fire truck and positive pressure ventilating truck etc. They are playing important roles in fighting fire in urban building, petrochemical enterprises, underground facilities, aircrafts and others.

This paper presents a new kind of leg mechanism with which the wall-climbing robot can easily perform the ground-to-wall transition by itself. To get its walking envelope and limit position, the forward/inverse kinematics and the statics of the mechanism are solved. All of these lay the foundation for ground-to-wall transition gait programing, mechanism parameter selection and optimization.