Design and Control for Vacuum Contact Devices of Mobile Wall Climbing Robot Application in Complex Environment

Abstract

Problem statement: The structure of vacuum grippers includes a system of sensitivity of the vacuum level, the angle of inclination of the surface and the trajectory of the robot. The vacuum level in the vacuum contact devices may vary in a wide range of values and allows the efficient adjustment of the flow level and pressure in the supply system of the mobile robot. Strategy based on decision making as example of control was developed taking into account the situational changes in the complex environment in which the robot moves. Purpose: To test the developed control algorithms, a series of experiments with vacuum grippers in air and water environments at different depths of underwater application was carried out. Based on the results of the work, recommendations were given for the design of adaptive vacuum grippers, which can be used on robots of vertical movement during their operation in complex environments. To obtain reliable experimental data SEMS system was used. Results: The design and control of the vacuum contact device of the mobile wall climbing robot implemented for vertical movement and operating in complex environments are considered. Variable design of vacuum contact devices capable for adaptation to changes in the dynamic environment on surfaces arbitrarily oriented in space was proposed. Practical significance: Various control modes for vacuum creation devices are proposed. It depends on the quality of the attachment surface and the operating environment of the wall climbing mobile robot.