Force Analysis and Verification of Wall-climbing Robot with Rotor-propellers

Wall-climbing robot can adapt to the wall surface of a variety of different materials, and can perform a variety of tasks, such as cleaning glass curtain walls and inspecting bridges. In this paper, a rotor-propeller type wall-climbing robot is researched and developed. The model aircraft propeller is used as the adsorption unit. The rotor platform has one roll degree of freedom, one pitch degree of freedom. Based on the vector superposition method, this paper considers the difference between the support forces of each wheel of the wall-climbing robot, and analyzes the relationship between the wheel and the wall of the wall-climbing robot. Furthermore, the effects of the anisotropic friction of the wheels and the roll joints on the lateral resultant force of the wall-climbing robot are studied. The results show that the roll joint is beneficial to the stable adsorption of the robot on the wall. Finally, a wall motion experiment is carried out in an indoor environment to verify the feasibility of the robot and the correctness of the theory.