Analysis and Design of Attachment Module Based on Sine Vibrating Suction Method for Wall-climbing Robot

作     者：Kun Wang Wei Wang Houxiang Zhang 

作者机构：School of Instrumentation Science and Opto-electronics Engineering BeiHang University Beijing 100191 P.R. China Robotics Institute School of Mechanical Engineering and Automation BeiHang University Beijing 100191 P.R. China TAMS Department of Informatics University of Hamburg Vogt-Kölln-Straße 30 Hamburg 22527 Germany 

出 版 物：《Procedia Engineering》 

年 卷 期：2011年第12卷

页      面：9-14页

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 

主　　题：Vibrating suction method Attachment module Suction cup Wall-climbing robot Caterpillare robot 

摘      要：This paper presents an attachment module for mini wall-climbing robot based on sine vibrating suction method. The basic idea of this method is that the vacuum can be generated inside a suction cup attaching on a surface, if a periodically vibrating force directly drives the suction cup. In this paper, mathematical model of sine vibrating suction method based on Bernoulli s equation is built. It is found that the vacuum degree in the suction cup is mainly determined by two parameters, namely the amplitude and frequency. To verify the correctness of the analyses, an experimental platform was developed. The results indicate that the vibrating suction method can definitely produce continuous vacuum. According to the experiment result, an attachment module for wall-climbing robot was developed. Moreover, the validity was verified by a series of suction experiments on different wall. Finally, the feasibility of the attachment module was basically testified on a caterpillar wall-climbing robot.