Safety analysis of a climbing robot with dual pumps for building surface detection

摘要

Wall robots must have adsorption and movement functions, and the safety of the adsorption system is a key index which determines the robot's performance. The redundant control theory was applied in the vacuum absorption system of wall cleaning robot, and its feasibility was analyzed, then a model was established. A redundant system of double vacuum bumps was put forward to enhance the robot's safety. It's proved theoretically that in the redundant system, the mean time between failures of the wall robot is extended. The experimental data shows that the redundant system is practicable and adjustable, and the two pumps can switch rapidly and stably.