Feasibility Study for Applying Electrostatic Adhesion on Wall Climbing Robots

Abstract

This paper presents a feasibility study for applying electrostatic actuators on wall climbing robot (WCR). These film actuators have generated useful level of attachment force on vertical wall surface. It works on non-conductive surface such as ceramic tiles. The confirmed advantages of electrostatic adhesion are encouraging for the development of WCR. Design considerations for the WCR are also discussed, to particularly include an active tail for countering pitch-back moment. The control strategy for WCR is not complicated and involves only a separate circuitry to provide HVdc to the electrostatic actuators. As a short summary, electrostatic adhesion is a feasible method to empower ordinary tracked mobile robot for becoming a WCR. Keywords—electrostatic adhesion, wall climbing robot