Attachment Mechanism Research And Experimental Analysis For Electrostatic Wall Climbing Robot

Wall climbing robots, which can perform on the vertical wall, have a wide range ofapplication in the field of nuclear, petrochemical and construction industry, especially inrecent years, with the aggravation situation of multinational anti-terrorist. wall-climbing robotshows its new value in its role of assisting the military counter-terrorism. This papersummarized the current wall climbing robots’ advantages and disadvantages at home andabroad, then applied electrostatic adsorption principle in wall climbing robots’ attractionmethod. by analysis of its feasibility, designed a new wall climbing robot with low noise, lowpower consumption, and can be adapted to a wide range of wall material.Firstly, it was made clear that dielectric polarization was the physical basis toward theproblem how the electrostatic adsorption emerged. And then the mathematical model of theelectrostatic adsorption principle was established both for single-electrode and coplanar combelectrodes. Mathematical methods of Laplace equation and Schwarz-Christoffel transformwere utilized to make a mathematical analysis of electrostatic force, and key factors whichinfluence the effect of electrostatic adsorption were found during the process.Secondly, Ansoft Maxwell software was used to simulate the trend of the electrostaticfield for two-dimensional comb electrodes, in detail, it included simulation with different dutycycle, as well as simulation with different electrode pairs Some experiments were done tocompare the adsorption difference when electrodes had different geometric topology andelectrodes pairs on different material walls. Optimization design of the electrodes was putforward Single and fly back transformer approach and piezoelectric transformer boost modulewere studied, their effect on the electrostatic adsorption was compared. The result shows thatthe piezoelectric transformer step-up module is more suitable to be applied in the electrostaticadsorption of wall climbing robot.Finally, a wall-climbing robot based on the electrostatic adsorption mechanics with adual-crawler structure was designed and produced. The main components included flexiblecomb electrodes film, the mechanical body structure, and construction of the robot controlcircuit. Though test experiment, the robot can move stably on the vertical wooden wall. Weanalyze the robot’s safety performance on the vertical wall, their load-carrying capability wasanalyzed, and then some improved measures were proposed to prevent the failure of the robot.