Wall climbing robot based on negative pressure-thrust suction method

Author

Li, Jun ; Gao, Xueshan ; Fan, Ningjun ; Zhu, Wei ; Yin, Jin ; Jia, Yujiao

Author_Institution

Sch. of Aerosp. Sci. & Eng., Beijing Inst. of Technol., Beijing

fYear

2008

fDate

5-8 Aug. 2008

Firstpage

604

Lastpage

609

Abstract

A new wall climbing robot suction method called ldquoNPT methodrdquo has been primarily proposed by our lab, it is based on compositive effect of negative pressure force and thrust. This paper presents the suction principle in detail, then the key parameters are given and a model of the robot is designed. Using computational fluid dynamics simulation, key parameters are analyzed. Finally the attraction-gap-motor speed curve is drawn through experimental tests. It is proved that this method is suitable for improving the robot´s adhering ability and obstacle crossing ability.

Keywords

collision avoidance; computational fluid dynamics; flow control; flow simulation; mobile robots; pressure control; NPT method; attraction-gap-motor speed curve; computational fluid dynamics simulation; negative pressure-thrust suction; obstacle crossing ability; robot adhering ability; wall climbing robot; Aerospace engineering; Climbing robots; Intelligent robots; Legged locomotion; Mechatronics; Mobile robots; Motion control; Sealing materials; Seals; Vacuum technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4244-2631-7

Electronic_ISBN

978-1-4244-2632-4

Type

conf

DOI

10.1109/ICMA.2008.4798825

Filename

4798825