Abstract
The wall climbing robot has characteristics of moving smartly and suction reliably on the wall, therefore, this paper proposes a method called critical suction, based on the negative suction and thrust force. Then mechanics, the robot's suction mechanism and the performance of air-sealed are analyzed, and the critical suction mechanism is discussed in theory. Furthermore, the fluid model and the fluid network dynamic model of the robot's suction system are set up. According to the dynamic response equation of the negative pressure in the suction cup, the suction process of the robot on the wall is simulated. Finally, the effect that the key parameters of the suction cup system have on the suction characteristic is analyzed and the conclusions are presented.
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