DefinePK

Abstract

Nowadays, wall climbing robot plays a vital role in the rapid growth of technology development. Potential applications are quite numerous, such as inspection, maintenance and cleaning operations of civil infrastructures which involve a high number of dangerous manual operations and represent a danger even for skilled workers. In view of the present situation of hazardous inspection environment, wall-climbing robot generally divided into adhesion part, movement part and control part. The rough surface wall environment is a challenging problem for adhesion. To address the problem, a negative pressure adhesion mechanism with adaptive control based on proportional integral derivative (PID) controller is proposed. The minimum revolving speed (RPM) that robot can adhere on the wall reliably is verified by the experiment conducted. The ducted fan model is analyzed using Solid Works Flow Simulation and the relationship between the motor speed and the adhesion force is described in detail. The feasibility of robot which adopts pressure adhesion adaptive control method using PID is demonstrated in MATLAB Simulink. Last but not least, the simulations with gap interference were done and its results are discussed, respectively.