Abstract
The adhering capability, one of the most important performance indexes of wall-climbing robots(WCRs), should be taken into account when a WCR is designed. This paper proposes a novel approach for investigating the adhering characteristics of the sliding suction cup (SSCs) using fluid network theory to enhance the adhering capability of WCRs. The fluid models of the SSCs of two WCRs are developed and equivalent circuits in three cases are presented. The dynamic responses of negative pressure in SSCs are obtained and validated by a set of experiments. It indicated that the theoretical analysis is reasonable and can give some valuable design criteria on the structure parameters of SSCs and control strategies of suction force of SSCs.
Highlights
The wall-climbing robots(WCRs) can replace humanbeings to perform dangerous tasks such as inspecting, maintaining and cleaning in hostile environments (Manuel, A., 2003, Wang,Y., 1999, Guido, L.R., 2002, Zhu, J., 2002)
For the WCRs with only one suction cup, wheeled mechanism is usually adapted and there is relative movement between the suction cup and the wall, called sliding suction cup(SSCs) (Nishi,A.,1996, Zhao,Y.Z, 2004, Miyake,T., 2003) because traditional suction cups cannot slide on the walls while staying attached
Fluid network theory is an applied science that develops with the study on fluidic transmission and transient in fluid pipelines (Foster, K.,1970, Roth, A., 1982, Luo,Z.C., 1988)
Summary
The wall-climbing robots(WCRs) can replace humanbeings to perform dangerous tasks such as inspecting, maintaining and cleaning in hostile environments (Manuel, A., 2003, Wang,Y., 1999, Guido, L.R., 2002, Zhu, J., 2002). It is absolutely necessary to study the adhering characteristics of suction cups, including the reliably, the stability and the adaptability to complex wall surfaces, to enhance the adhering capability of WCRs. According to the number of the suction cup, it can be classed as single suction cup and multi-suction cups. Fluid network theory is an applied science that develops with the study on fluidic transmission and transient in fluid pipelines (Foster, K.,1970, Roth, A., 1982, Luo,Z.C., 1988). The theory can be used to analyze the transmission process of power and information in fluid pipelines of. The pressure difference is corresponding to the voltage and the fluidic flux to the current
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