WALL CLIMBING ROBOT MOTION WITH ADAPTIVE VACUUM CONTACT DEVICES

摘要

Simulation technique of studying adaptation motion of mobile wall climbing robot with sliding seal and two wheels is suggested. Such parameters as forces, pressure, velocities of contact device have been taken into account. The results of simulation present dynamic range of the robot motion with restriction on parameters. It is shown the limitation of characteristics of robot adaptive motion over complex surfaces. The obtaining results were used for the robot's prototype design.