Wall-attachment Model and Its Simulation on a New Wall-climbing Robot for Rust Removal

摘要

A permanent magnetic and vacuum mixed adsorption wall-climbing robot for ship rust removal was designed,in which there was water jet kick and vacuum negative pressure force in normal direction of wall surface.The static models for glide and tip back were established.The glide and the tip back models were analyzed,and the forced state of permanent magnetic unit between glide and tip back were compared.Simulation and experimental results showed that the vacuum negative pressure force improves the adsorption capacity obviously,the permanent magnetic and vacuum mixed adsorption may reduce the adsorption force greatly,and in the normal work,the robot can attach the wall in low vacuum negative pressure.