Research On Micro Wall-climbing Robot Based On Electrostatic Adsorption

Wall-climbing robot is such a kind of complex electromechanical system which can move on vertical wall and accomplish special task.Particularly,in terms of the micro-wall-climbing robot,due to its stealthiness and environmental adaptation ability,it has great practical value in detecting terrorism and searching and rescuing after a disaster,etc.Although a variety of wall-climbing-robot prototypes have been developed,traditional adsorption wall-climbing robots have many shortcomings in the practical application.Based on the researches of last wall-climbing robots at home and abroad,a kind of micro-wall-climbing robot is designed,which had the characteristics of light weigh,small volume,low power consumption.And the main research contents are as follows:Firstly,the paper analyzes the last state of the wall-climbing robot at home and aboard,studies the traditional adsorption methods of the wall-climbing robot and compares their advantages and disadvantages, to lay the foundation of designing desirable prototype.Secondly,based on the nature of wall materials,wall materials can be divided into the conductor and the dielectric surface.And in this way,adsorption model and calculation formula of electrostatic force on the conductor are presented and the electrostatic force on the dielectric surface is analyzed qualitatively.By using Ansoft Maxwell simulation software to construct 3-D model,then the simulation value can be compared with the value of the model calculation formula.Then,from the aspect of safety,the paper analyzes the minimum electrostatic adsorption force to protect the wall-climbing robot from sliding and overturning when it is in the static state and the movement differential equation of the wall-climbing robot and the minimum torque required for the motor when it is in dynamic state.Again,the prototype system is introduced in the paper and its structure is presented and its structure function is analyzed.Based on this,a novel kind of wall- climbing robot structure is present,which uses double servo drive to drive its foots separately.Finally,the electrostatic adsorption films are tested,and the results are compared with the value of the model calculation formula and the value of simulating.And then a series of experiment is done to test the adsorption ability and mobile performance of the prototype.By the test results,prototype can move on the vertical marble and glasswall,whose friction coefficient is relatively large and for aluminium alloy material,it can move stably when the tilt angle is about 80 degree.The experiment verifies the feasibility of using electrostatic adsorption method on wall-climbing robot and proves its practical value.