Optimal design of the flying and adhesive robot

Abstract

This paper presents the optimal design of the flying and adhesive robot, which is strongly needed by various industries and public security authorities. The power and payload of this kind of robots are always challenging research problems. Currently, the adhesion device in the robot can hold about 1.6kg payloads on the wall with about 3.5W power consumption. To further improve the robot's performance, the optimal design is discussed in this paper, which mainly includes adhesion mechanism optimization and geometry optimization. To obtain the geometry optimization, the supporting system has been well designed. Then, the fluid dynamics analysis of the adhesion unit was done. Several experiments were conducted on the robot prototype, which verified the optimal design concepts. Experimental results demonstrate that the robot can carry much more payloads as well as lower power consumption using the optimal design. Keywords-the flying and adhesive robot; adhesion mechanism; supporting system I. 978-1-4673-6322-8/13/$31.00 c 2013 IEEE

Autonomous and sustained perching of multirotor platforms on smooth surfaces

“…These adhesives require a clean surface and sufficient tangential force to function properly, and for detachment some peeling is required. Other methods for perching include the use of active vacuum [5], [6], which requires small amounts of energy to remain perched over time, and the use of passive vacuum [7].…”