Fluid Model of Sliding Suction Cup of Wall-climbing Robots
Fluid Model of Sliding Suction Cup of Wall-climbing Robots
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DOI：
10.5772/5729
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发表时间：
2006-09
影响因子：
2.3
通讯作者：
Z. Qian;Yan-zheng Zhao;Zhuang Fu;Wang Yan
中科院分区：
文献类型：
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作者：
Z. Qian;Yan-zheng Zhao;Zhuang Fu;Wang Yan
粘附能力是爬墙机器人（WCR）最重要的性能指标之一，在设计WCR时应予以考虑。本文提出了一种利用流体网络理论研究滑动吸盘（SSC）粘附特性的新方法，以增强 WCR 的粘附能力。开发了两个 WCR 的 SSC 流体模型，并给出了三种情况下的等效电路。通过一组实验获得并验证了 SSC 中负压的动态响应。表明理论分析是合理的，可以为SSCs的结构参数和SSCs吸力的控制策略提供一些有价值的设计准则。
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.