Wall-Climbing Robots: Optimising Adsorption and Novel Suction Techniques

Abstract

This paper reviews the advancements in wall-climbing robots, focusing on optimizing adsorption and introducing novel suction techniques. Wall-climbing robots have garnered significant attention due to their potential in hazardous operations and their ability to navigate various wall surfaces without compromising mobility. One such innovation includes a robot designed for smooth wall surfaces, integrating a vacuum adsorption system and adhesion belts. This design enhances the robot’s flexibility and steerability, with an in-depth analysis of its attachment mechanism for climbing tasks. Key parameters such as the required adsorption force and motor torque for stable climbing have been derived, with the robot’s prototype demonstrating high stability and adaptability across different wall surfaces. Another pivotal study delves into the modelling and experimental analysis of suction pressure in the suction chamber, emphasizing the role of different chamber contours. A novel addition of a bottom restrictor at the chamber’s base has been introduced, with its design and performance analysed using 3D modelling and computational fluid dynamics. The restrictor’s impact on the robot’s adhesion efficiency has been experimentally assessed, showcasing promising results on non-plastered brick walls. Through these studies, the paper underscores the continuous evolution and potential of wall-climbing robots in diverse applications.