Analysis Of The Motion Characteristic And Application Study Of Wall-Climbing Robots With Sliding Suction Cup

Wall-climbing robots (WCRs), as a kind of automated devices working at high altitude and at hostile environment, can relieve human beings from tedious and hazardous works, reduce the cost of activity, and increase the working efficiency and the automotive level. According to the motion characteristic of suction cup on the wall, there are two kinds of WCRs with the general suction cup and the sliding suction cup (SSC), respectively. Different from general suction cup that can move on the wall using alternative adhering method, there is relative movement between the SSC and the wall. WCRs with SSC(s) can move continually and have some merits such as simple mechanism, flexible movement and high moving velocity. However, it is not beneficial when the amount of suction force of SSC becomes larger and larger. Moreover, the suction force may be influenced by complex wall environments and different motion status, which can greatly determine the motion characteristics of WCRs to some extent. In all, one of the key problems on the study of WCRs with SSC(s) is how to design the locomotion mechanism of WCR and structure of SSC for excellent motion capability. Aiming at wheeled WCR(WWCR) with SSCs firstly , the influence on the motion characteristic under suction force of SSC and variable mass is analyzed. To promote the application of WCR with SSCs for cleaning flat glass-curtain wall, a kind of wall-sliding cleaning robot (WSCR) as the simplified mechanism of WWCR is developed. The motion characteristics and the operational capability of WSCR are analyzed and compared with that of WWCR. In the end, some structural design criteria and negative pressure control methods are given by comparing the negative...