Abstract
We present a twin-propelled wall-climbing robot that can stably adsorb and move quickly on a vertical wall by exploiting the propeller’s reverse thrust as the adsorption force and the wheel as the movement method. This paper derives and theoretically analyses the aerodynamic characteristics of the twin-propelled wall-climbing mobile robot system exploiting the momentum inflow model and blade element theory and measures the reverse thrust of a single propeller through real-world experiments. Additionally, Computational Fluid Dynamics simulation software analyzes the influence of structural parameters, such as the lateral spacing of the twin-propeller fixed plate, the width of the fixed-rotor plate, and the inclination angle of the double-rotor on the airflow around the robot. Experiments on the adsorption and movement performance of the dual-rotor wall-climbing robot on a vertical wall demonstrate that the designed twin-propelled wall-climbing robot can stably adsorb and move on a vertical wall.
Highlights
For humans and man-made structures, climbing is one of the most challenging tasks
We present a twin-propelled wall-climbing robot that can stably adsorb and move quickly on a vertical wall by exploiting the propeller’s reverse thrust as the adsorption force and the wheel as the movement method
Computational Fluid Dynamics simulation software analyzes the influence of structural parameters, such as the lateral spacing of the twin-propeller fixed plate, the width of the fixedrotor plate, and the inclination angle of the double-rotor on the airflow around the robot
Summary
For humans and man-made structures, climbing is one of the most challenging tasks. Wall-climbing robots have been widely used in the past few decades, mainly replacing humans for tasks within hazardous environments. Some scholars developed a robot that employs a propeller’s reverse thrust that achieves higher speed without being restricted by the contact surface and adapts to various material wall surfaces, which will become an appealing future development direction. In this type of robot, the gas flow state under the propeller’s action has a significant influence on the stability of the wall-climbing robot. The impact of the robot’s main structural parameters on its aerodynamic characteristics is analyzed through CFD simulation, and the robot is tested on a vertical wall.
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