Design of a Vacuum Adsorption Wall Climbing Robot

Abstract

In this paper, a new type of wall climbing robot with multi vacuum suckers is developed. The robot structure and working principle are introduced in detail. The analysis of safe adsorption force of the wall climbing robot. The mechanical model of the suckers is established. The adsorption force of the suckers is determined based on the experiments. The robot prototype is made. And a large number of experiments are carried out to verify the feasibility of the wall climbing robot. The experiments include robot wall adaptability test and maximum load capacity test, and all. The experiments result show that the prototype can walk on the vertical wall of various materials. The experiment results of the prototype walking on the vertical steel plate surface show that the maximum load is 13kg. And can span 20x8mm cracks.

Modeling and control of a novel facade cleaning robot with four-ducted fan drive

“…Its crossing obstacle ability is up to 10 cm, which is better than the latest wall-cleaning robot. [1][2][3][4][5][6][7][8][9][10] When the robot is lifted to fly over the obstacle, the effect is shown in Figure 18(a), where the white foam bar is the simulated obstacle. The cleaning effect of common glass stains is also experimented in this article.…”

“…It contains key technologies with facade adsorption, designs of lifting device, and related control methods. Facade adsorption technologies for glass curtain walls include the passive sucker, [1][2][3] the active sucker, 4,5 the thrust adsorption by using fans, [6][7][8][9] and so on. Lifting technologies include rope driven, 6,8,9 leg types, 4 wheel types, 3,7 and sliding frame types.…”

“…Lifting technologies include rope driven, 6,8,9 leg types, 4 wheel types, 3,7 and sliding frame types. 1,2,5 The wall-climbing robots used to clean have been studied in recent decades, but there is no mass-produced commercial products for glass curtain wall cleaning, and the existing research work is mostly focused on structural designs. [1][2][3][4][5][6][7][8][9][10] Many researchers are dedicated on the designing of wall-climbing robots for cleaning glass curtain wall, [1][2][3][4][5][6][7][8][9][10] especially in some researches such as Nansai et al 1 cleaning robot with self-reconfigurable mechanism and a biped mechanism, 4 the ingenious mechanical structure improves the flexibility of the robot, and it still causes some control problems.…”

“…We can know the performance of controller by analyzing the change of the angle and the angular velocity. Control simulation of roll angle and roll angular velocity diagram are shown in Figures 7 and 8.The parameters of curves 1-6 corresponding to k 1 and l are [0.5,0.5],[1,1],[2,2],[5,5],[10,10],[10,5]. The sampling interval T S is 0.01 s and the simulation takes 6 s. Six sets of model parameters of the controller are mainly discussed after a lot of simulations were done.…”

Study for a Wall-Climbing Robot Magnetic Attraction Force of An Electronically Controlled Permanent Magnet

“…Chen et al suggested a new form of multi-vacuum sucker wall climbing robot. The robot can walk vertically on a variety of materials [9]. Yu et al developed a new legged gecko robot with 16 active degrees of freedom and 12 passive degrees of freedom that could climb omni-directional surfaces with dry adhesive material using a diagonal gait motion.…”