Wall Climbing Robot Using Electrostatic Adhesion Force Generated by Flexible Interdigital Electrodes

[摘要] Electrostatic adhesion technology has broad application prospects on wall climbing robots because of its unique characteristics compared with other types of adhesion technologies. A double tracked wall climbing robot based on electrostatic adhesion technology is presented including electrode panel design, mechanical structure design, power supply system design and control system design. A theoretical adhesion model was established and the electrostatic potential and field were expressed by series expansions in terms of solutions of the Laplace function. Based on this model, the electrostatic adhesion force was calculated using the Maxwell stress tensor formulation. Several important factors which may influence the electrostatic adhesion force were analysed and discussed by both FEM simulation and theoretical calculation. In addition, experiments on the adhesion performance of the electrode panel and the climbing performance of the robot on various wall materials were carried out. Both the simulation and e...

[学科分类] 自动化工程

[关键词] Wall Climbing Robot;Electrostatic Adhesion;Flexible Interdigital Electrodes;Adhesion Model;Maxwell Stress Tensor