Study on pneumatic wall climbing robot adhesion principle and suction control

This paper presents a new taxonomy for wall climbing robots, among which 1-NP and NPT methods with continuous and rapid locomotion are studied emphatically. It analyses in depth operating principles of fluid machineries that the two methods use, and points out the two´s difference in structure as well as merits and drawbacks in performance. Then it builds dynamic models for elements in 1-NP method´s suction closed-loop control system, comes up with control algorithm, and shows simulation results and discussion. Finally conclusion is given and future direction is prospected.