An analysis is presented of the problems associated with the payload carrying capacity of a wallclimbing robotic non-destructive testing system. The load applied on the system is identified. Force analysis is carried out obtaining a sliding force tending pulling the climbing vehicle down along the wall surface, a moment tending to rotate the vehicle about its center on the surface and an overturn moment tending to pull the vehicle off the surface. The payload carrying capacity of the system is calculated. The climbing height characteristics is analyzed. The equations derived are useful for design of this kind of systems.
展开▼
