Design and Fabrication of Silo Cleaning Robot Using Vacuum Principle

摘要

Abstract This paper presents a mechanical design and motion-control system of a Wall-Climbing Robot (WCR) which can move on the silo’s surface for cleaning purposes. One of the most challenges with this type of robot that the researchers confront is how to keep the robot moving steadily on the wall with the most optimal approach. In this study, a new mechanical design of the Wall-Climbing robot using the Vacuum principle and wireless control technology were proposed. This version of the robot enhances the ability of its movement on the silo’s wall and optimizes control system. In detail, the Minimum Required Adhesion Force (FMRA) is calculated to be balanced with gravity and its torque. Moreover, a Wireless Control System (WCS) is designed to drive the Robot remotely. The optimal control trajectory and velocities are given based on theory calculations and comparisons.