Abstract
This paper presents a wall-climbing robot which can stably hold and move on the ground-wall surface. The robot uses propeller reverse thrust as an adsorption force and can adapt to the surface of several media materials. The influence of the robot’s structural parameters on its power system is analyzed by comparing a single power system test and a robot prototype power test. A structural analysis of the robot is performed under two specific situations; when he is in transition from the ground to a small slope, and when he is on the slope. The force state of the robot is then obtained in different conditions. Experimental results show that the adjustment range of different rotor inclination angles of the robot, the width of the fixed rotor plate and the different near-ground distances, affect the traction of the robot. The robot motion performance and adaptability under different ground/wall environments are analyzed, by conducting the robot climbing experiment under a small slope, a vertical wooden wall surface and a vertical indoor wall surface. Stable adsorption and optimization tests are also performed. Moreover, the stability of the robot’s motion is verified. Finally, a theoretical and experimental accumulation is laid for the realization of the smooth transition of the robot from the ground to the wall.
Highlights
Wall-climbing robots can replace humans in performing dangerous tasks in several environments
The static analysis of the robot is discussed, in two specific scenarios; when he is in transition from the ground to a small slope, and when he is on the slope
In order to study the robot movement from the ground to the wall, two motion states should be analyzed; when he is in transition from the ground to the small slope, which is referred to as ‘‘uphill state,’’ and when he is on the small slope
Summary
Wall-climbing robots can replace humans in performing dangerous tasks in several environments. The actual adsorption force is measured when the rotor platform is adjusted to the horizontal position, after the power unit is installed on the robot. The actual measured value of the adsorption force is only 72.27% of the maximum value, while the adsorption efficiency is diminished by 27.73% This is mainly due to the loss of the air velocity generated by the structure of the rotor fixing plate, on the bottom of the propeller.
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