Analysis and optimization of the wall-climbing robot with an adsorption system and adhesive belts

Jinfu Liu,Linsen Xu,Hong Xu,Gaoxin Cheng,Jia Shi,Xingcan Liang,Jiajun Xu,Shouqi Chen,Lei Liu

doi:10.1177/1729881420926409

Abstract

This article presents an innovative wall-climbing robot for detection on smooth wall surfaces, which consists of a vacuum adsorption system and adhesion belts, making the robot flexible and effectively steerable. Moreover, the detailed attachment mechanism is further analyzed for the climbing tasks. Safe operating conditions, kinematics, and dynamic model are derived, respectively, indicating that at least the adsorption force of 30 N and the motor torque of 2 N·m are required for stable climbing of the robot. Furthermore, the prototype of the wall-climbing robot is manufactured and the climbing abilities are tested on various wall surfaces showing that the maximum moving speed and corresponding load are 7.11 cm/s and 0.8 kg on the concrete exterior wall, 5.9 cm/s and 0.75 kg on the ceramic brick wall, 6.09 cm/s and 0.85 kg on the lime wall, and 5.9 cm/s and 1 kg on the acrylic surface, respectively, which demonstrates that the robot has high stability and adaptability.

Highlights

The wall-climbing robot can help human avoid engaging in the dangerous high-altitude work, which can increase the work efficiency and save the cost, and improve the working environment of operators
To verify the dynamic model of the robot on a smooth wall surface, a vertical lime wall surface is used as the test platform
A novel multi-mode wall-climbing robot with the vacuum adsorption system and adhesive belts has been proposed for some smooth wall surfaces

Summary

Introduction

The wall-climbing robot can help human avoid engaging in the dangerous high-altitude work, which can increase the work efficiency and save the cost, and improve the working environment of operators. The adsorption system contains a vortex fan, suction cup, and flexible skirt edge, which can provide the robot with the adsorption force to ensure it be attached to the Figure 1. The peeling process of the adhesive belt from the smooth wall is shown, where F is the peeling force, q is the peeling angle, r is the radius of the pulley, and d is the thickness of the adhesive belt.According to the triangular geometric relationship, the original and stretching length of the AB section is as follows, respectively:. To prevent the robot from flipping backward, FNa ! 0, and the force and moment balance equations of the robot are as follows:

F NaL ðF S

B LÀd ð2 2 ð 0

Experiments

Conclusion and future work