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Design and Analysis of a Novel Rolling Sealed Negative Pressure Adsorption Wall-Climbing Robot

Published: 25 April 2022 Publication History

Abstract

In this paper, a novel negative pressure wall-climbing robot which has a rolling sealed structure is proposed and its sealing and movement mechanism is introduced. The statics of the robot is analyzed, then the dynamic equations of its linear motion, pure torsional motion and large-radius steering motion on the wall are deduced respectively. Moreover, the control system is designed to realize wireless remote transmission. The results of simulation and prototype experiments verify that the robot has reliable adsorption and large load capacity, and it can be applied to different wall surfaces.

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Cited By

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  • (2023)Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High SpeedJournal of Robotics and Mechatronics10.20965/jrm.2023.p155135:6(1551-1561)Online publication date: 20-Dec-2023

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cover image ACM Other conferences
RobCE '22: Proceedings of the 2022 2nd International Conference on Robotics and Control Engineering
March 2022
107 pages
ISBN:9781450395854
DOI:10.1145/3529261
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 25 April 2022

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Author Tags

  1. dynamic model
  2. negative pressure suction
  3. rolling sealed
  4. wall-climbing robot

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  • Research-article
  • Research
  • Refereed limited

Funding Sources

  • Changzhou Key Research and Development Project
  • General Project of Natural Science Foundation of Colleges and Universities of Jiangsu Province
  • Suzhou Key Industrial Technology Innovation - Forward-looking Application Research Project
  • Frontier Leading Technology Basic Research Special Project of Jiangsu Province

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RobCE 2022

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View all
  • (2023)Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High SpeedJournal of Robotics and Mechatronics10.20965/jrm.2023.p155135:6(1551-1561)Online publication date: 20-Dec-2023

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