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Development and applications of wall-climbing robots with a single suction cup

  • Yanzheng Zhao (a1), Zhuang Fu (a1), Qixin Cao (a1) and Yan Wang (a2)

Abstract

In this paper, wall-climbing robots with a single suction cup are studied. The robots mainly consist of three parts: A vacuum pump, a sealing mechanism and a driving mechanism. Basic conditions that the robots can adhere to and move reliably on a vertical surface are first established, then the sealing mechanism with an air spring and regulating springs is analyzed, and the synthetic rigidity formula for the sealing loop is obtained. Finally, two application examples are given: One for the ultrasonic inspection of cylindrical stainless steel nuclear storage tanks, and the other for cleaning high-rise buildings.

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Corresponding author

Corresponding author: Zhuang Fu. E-mail: zhfu@sjtu.edu.cn

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Project supported by the High Technology and Development Programme of China.

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Keywords

Development and applications of wall-climbing robots with a single suction cup

  • Yanzheng Zhao (a1), Zhuang Fu (a1), Qixin Cao (a1) and Yan Wang (a2)

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