Development and Control of a Differential Wall Climbing Robot based on Vortex Adhesion

摘要

In this article, the development and control of a novel differential drive Vortex Robot (VR) will be presented. Towards the direction of developing a climbing robot for inspection and repair of large infrastructures, a lightweight reliable climbing robot is proposed, being able to carry high payload via an Electric Ducted Fan (EDF) vortex based adhesion actuator. Towards these objectives, the fundamental elements of the overall design will be presented. For the preliminary evaluation of the proposed system, a PID-based control architecture will be analyzed and experimentally evaluated, with the goal of controlling the locomotion properties of the VR, while achieving a constant adhesion regardless the orientation of the robot and the surface's inclination. To further evaluate the robot's efficiency in real-life scenarios, such as the inspection and repair of airplane structures, results acquired via field trials involving a full-scale Boeing 737 will be presented.