Fluid Model of Sliding Suction Cup of Wall-climbing Robots

Qian, Zhi-yuan; Zhao, Yanzheng; Fu, Zhuang; Wang, Yan

doi:10.5772/5729

Cited by 14 publications

(4 citation statements)

References 16 publications

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“…Also aerodynamics simulations of fixing devices with centrifugal and axial fans are represented in [3,4]. In [5][6][7] using a fluid network theory is proposed for calculating the adhering characteristics of the sliding suction cup of the wall climbing robot. It is assumed that in the suction cup the flow is considered as radial.…”

Section: Related Workmentioning

confidence: 99%

Fixing device aerodynamics of the wall climbing robot

2020

Robots in Human Life

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The aerodynamics of a fixing device intended for robots of vertical movement is investigated. Fixation is carried out by creating a vacuum under the bottom of the robot through a fan. Theoretical calculations were carried out to assess the dependence of the pressing force on the flow rate of air pumped out by the fan. A comparison is also made with experimental data obtained using the created model of the fixing device.

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Section: Related Workmentioning

confidence: 99%

Fixing device aerodynamics of the wall climbing robot

2020

Robots in Human Life

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“…2) Negative Pressure-Thrust: Negative Pressure-Thrust (NPT) is an adhesion method that has grown fast in WCRrelated applications. The adhesion mechanism functions as a SC without the requirement of a vacuum seal against the surface, instead a high speed rotor is used to continuously remove the air between the wall and bottom plate of the robot [4], [7], [23], [24], [25].…”

Section: A Adhesion Mechanism 1) Suction Cupsmentioning

confidence: 99%

A survey on pneumatic wall-climbing robots for inspection

Brusell

Ανδρικόπουλος

Nikolakopoulos

2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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The aim of this article is to present a survey on inspection applications of Pneumatic Wall-Climbing Robots (PWCR). In general, a PWCR utilizes negative pressure as its adhesion method, through mainly suction cups or negative pressure thrust-based mechanisms. Their main advantage being their ability to climb non-ferromagnetic surfaces, such as glass and composite materials, in comparison with climbing robots based on magnetic adhesion methods. A growing application area is the utilization of PWCRs for inspection purposes for accelerating the otherwise time consuming procedures of manual inspection, while offering the important advantage of protecting human workers from hazardous and/or unreachable environments. This article will summarize the key enabling inspection applications of PWCRs in the following areas: a) Construction, b) Industrial Infrastructures, as well as c) Aircraft applications.

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“…It is observed that from (4), for preventing the robot from sliding off from the wall each suction cup should have a holding force of 8.175 N. The condition for the robot not to fall off from the wall can be estimated through (5), (6).…”

Section: Wall Climbing Robot -System Architecturementioning

confidence: 99%

“…The adhering capability is one of the most important performance indices of WCRs. Another approach to achieve this is the sliding suction cup (SSCs) using fluid network theory [6]. H. Zhang et.al.developed Sky cleaner 3, which is used for wall cleaning, maintenance of high-rise buildings and glass-wall cleaning [7].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Realization of Pneumatics based Wall Climbing Robot for Inspection Applications

Muthukumaran¹,

Ramachandraiah²

2016

IJET

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Climbing robots are highly in need for catering the inspection of the high rise buildings. Climbing Robots has to work in challenging environments and has to maneuver vertically against gravity and orient towards the specified target by adapting to various surfaces. The proposed Wall Climbing Robot weighs 1 Kg , works with four active suction cups and driven with pneumatic supply cylinder drive assembly. The robot moves by absolute holding of two suction cups at any instance and remaining two cups are allowed free to enable forward movement of the robot. The robot consists of vacuum generator, suction cup, pneumatic driven traverse assembly, controller and wireless high resolution camera. The designed robot is highly suitable for the continuous monitoring and inspection of high rise buildings. The vacuum generator is externally positioned and suction is derived through pneumatic supply hose. The developed robot climbs on the vertical wall at a velocity of 1.5 cm/s.

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Fluid Model of Sliding Suction Cup of Wall-climbing Robots

Cited by 14 publications

References 16 publications

Fixing device aerodynamics of the wall climbing robot

Fixing device aerodynamics of the wall climbing robot

A survey on pneumatic wall-climbing robots for inspection

Modelling and Realization of Pneumatics based Wall Climbing Robot for Inspection Applications

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