Fluid Model of Sliding Suction Cup of Wall-climbing Robots

Fluid Model of Sliding Suction Cup of Wall-climbing Robots

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The adhering capability, one of the most important performance indexes of wall-climbing robots(WCRs), should be taken into account when a WCR is designed. This paper proposes a novel approach for investigating the adhering characteristics of the sliding suction cup (SSCs) using fluid network theory...

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Bibliographic Details
Main Authors: Qian Zhi-yuan, Zhao Yan-zheng, Fu Zhuang, Wang Yan
Format: Article
Language:English
Published: SAGE Publishing 2006-09-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/5729
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spelling doaj-d973ba598fac42d68bb06b8d5031c4a82020-11-25T03:34:12ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142006-09-01310.5772/572910.5772_5729Fluid Model of Sliding Suction Cup of Wall-climbing RobotsQian Zhi-yuanZhao Yan-zhengFu ZhuangWang YanThe adhering capability, one of the most important performance indexes of wall-climbing robots(WCRs), should be taken into account when a WCR is designed. This paper proposes a novel approach for investigating the adhering characteristics of the sliding suction cup (SSCs) using fluid network theory to enhance the adhering capability of WCRs. The fluid models of the SSCs of two WCRs are developed and equivalent circuits in three cases are presented. The dynamic responses of negative pressure in SSCs are obtained and validated by a set of experiments. It indicated that the theoretical analysis is reasonable and can give some valuable design criteria on the structure parameters of SSCs and control strategies of suction force of SSCs.https://doi.org/10.5772/5729
collection DOAJ
language English
format Article
sources DOAJ
author Qian Zhi-yuan
Zhao Yan-zheng
Fu Zhuang
Wang Yan
spellingShingle Qian Zhi-yuan
Zhao Yan-zheng
Fu Zhuang
Wang Yan
Fluid Model of Sliding Suction Cup of Wall-climbing Robots
International Journal of Advanced Robotic Systems
author_facet Qian Zhi-yuan
Zhao Yan-zheng
Fu Zhuang
Wang Yan
author_sort Qian Zhi-yuan
title Fluid Model of Sliding Suction Cup of Wall-climbing Robots
title_short Fluid Model of Sliding Suction Cup of Wall-climbing Robots
title_full Fluid Model of Sliding Suction Cup of Wall-climbing Robots
title_fullStr Fluid Model of Sliding Suction Cup of Wall-climbing Robots
title_full_unstemmed Fluid Model of Sliding Suction Cup of Wall-climbing Robots
title_sort fluid model of sliding suction cup of wall-climbing robots
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2006-09-01
description The adhering capability, one of the most important performance indexes of wall-climbing robots(WCRs), should be taken into account when a WCR is designed. This paper proposes a novel approach for investigating the adhering characteristics of the sliding suction cup (SSCs) using fluid network theory to enhance the adhering capability of WCRs. The fluid models of the SSCs of two WCRs are developed and equivalent circuits in three cases are presented. The dynamic responses of negative pressure in SSCs are obtained and validated by a set of experiments. It indicated that the theoretical analysis is reasonable and can give some valuable design criteria on the structure parameters of SSCs and control strategies of suction force of SSCs.
url https://doi.org/10.5772/5729
work_keys_str_mv AT qianzhiyuan fluidmodelofslidingsuctioncupofwallclimbingrobots
AT zhaoyanzheng fluidmodelofslidingsuctioncupofwallclimbingrobots
AT fuzhuang fluidmodelofslidingsuctioncupofwallclimbingrobots
AT wangyan fluidmodelofslidingsuctioncupofwallclimbingrobots
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