A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid m...A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high ad- hesion efficiency, light body in weight, small size in structure and good capability in payload, is test- ed in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption perform- ance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstand- ing locomotion ability and payload capacity.展开更多
基金Supported by National Natural Science Foundation of China(61273344)Ph.D. Programs Foundation of Ministry of Education of China(20121101110011)State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2011-ZD-06)
文摘A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high ad- hesion efficiency, light body in weight, small size in structure and good capability in payload, is test- ed in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption perform- ance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstand- ing locomotion ability and payload capacity.
