Study on pneumatic wall climbing robot adhesion principle and suction control

摘要

This paper presents a new taxonomy for wall climbing robots, among which 1-NP and NPT methods with continuous and rapid locomotion are studied emphatically. It analyses in depth operating principles of fluid machineries that the two methods use, and points out the two's difference in structure as well as merits and drawbacks in performance. Then it builds dynamic models for elements in 1-NP method's suction closed-loop control system, comes up with control algorithm, and shows simulation results and discussion. Finally conclusion is given and future direction is prospected.