This paper presents a wall-climbing robot which adopts passive suction cups as the attaching components. Using only one motor, this robot can not only move on a wall but also attach suction cups to the wall and remove them from the wall. Passive suction cups do not consume additional energy to keep adhesion. Therefore, the proposed robot can realize the climbing motion on a wall with relatively low energy consumption. The prototype has been designed, fabricated and tested. The experiments showed that the proposed robot could attach and remove suction cups passively. However, the robot could not move up the wall well and fell down often. In order to solve this problem, the load of each suction cup when attached to a vertical wall is analyzed. As a result, it is shown that a moment generated by both of the gravity and the attaching force of suction cups turns the robot down from the wall. Then a new model which improves the falling problems is thus designed.978-1-4244-9318-0/10/$26.00
This paper presents a wall-climbing robot that uses passive suction cups as the adhering components. Using a single motor, this robot can not only move on a wall but can also autonomously attach and detach suction cups to the wall. Passive suction cups do not consume additional energy to maintain adhesion. Therefore, the proposed robot can perform the wall-climbing motion with relatively low energy consumption. In order to prevent the robot from falling, a supporting tail was designed. Moreover, load distribution analysis showed that the tail can be used to enhance the distribution of the loads across the suction cups. In this paper, the optimal parameters of the robot are described and a robot is fabricated based on this analysis. We conducted experiments to verify the robot performance.
In this study, the dynamic stability derivatives of an aircraft model are calculated using CFD for the forced-pitch oscillation. The time-spectral, or reduced-frequency, method has been developed for RANS simulations on unstructured grids. It achieves faster computations than the time-marching method for periodically unsteady flows. The efficiency and accuracy of the method are first validated through comparisons with the transonic experiment of a pitching LANN wing. Next, the longitudinal dynamic-stability derivatives of a simplified aircraft model are calculated. Dependency of the damping-in-pitch and oscillatory longitudinal stability on the Mach number agreed reasonably well with the experimental results. Both the instantaneous flow field and frequency characteristics obtained directly from the time-spectral results are discussed to determine the effect of Mach number on the stability derivatives.
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