Research On Electrostatic Adhision Mechanism For Wall-Climbing Robot

Because of the special ability climb on the vertical surface,wall climbing robots have important application value in many situations, such as anti-terror investigation mission and post-disaster search and rescue. However,traditional adhesion technologies more or less have several disadvantages in practical applications situations. It is the restriction for the applications of wall climbing robots. Considering the problems above, in this paper, a new type of adhesion technology which named electrostatic adhesion technology is proposed in order to develop an innovational adhesion mechanism system for wall climbing robot with several advantages such as light weight, low power consumption, low noise and excellent wall adaptation. In this paper, at first, with consideration of wall climbing robot applicationcharacteristics, the adhesion mechanism of electrostatic adhesion technology will be researched. The contents are following: the analysis of the main factors of electrostatic adhesion mechanism; building the theoretical attraction force model of double electrodes type electrostatic adhesive electrodes base on Coulomb effect; the analysis of the relationship between load voltage and the attraction force and the influence of insulation parameters.Second, based on the analysis of non-uniform electric field of the double electrodes type electrostatic adhesive electrodes, the analytical expression of adhesion capacitance is proposed. Also, the distribution of adhesion force is analyzed. Moreover, based on the analysis above, the optimal design method for electrostatic electrodes is discussed carefully and verified by experiments.Finally, in order to verify the feasibility and valuation of the electrostatic adhesion technology which are used on the wall-climbing robots. Tow types of electrostatic adhesion systems and a prototype robot are designed and their performances are tested in a series of experiments.