Title :
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
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;
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
DOI :
10.1109/ICMA.2008.4798825