Study of a wall-climbing robot based on chain feet with negative pressure adhesion

Abstract

In this paper, a wall-climbing robot based on chain feet with negative pressure adhesion is designed. The robot uses chain feet with negative pressure adhesion as the motion units and has the characteristics of adhesion and barrier crossing. Analyzing the power consumption is an important aspect of robot design. The influences of robot design parameters on mechanical characteristics are analyzed with the kinetic method. The robot power model is constructed by combining the energy model of the drive motor and the power model of the transmission system. The relationship between the key parameters and robot power consumption is established by discussing the effects of the robot load, motor angular velocity, and other related design parameters on the robot power consumption. Simulations and experiments show that the established robot power model can be used as a theoretical basis for the optimal design of robots and provides a reference for establishing an optimal model for the motion control of robots.