反推力吸附的爬壁机器人设计及实验研究

A robot design approach was proposed that uses the reverse thrust of the dual-rotor propeller as the forward driving force and the wall adsorption force to achieve steady, rapid, and efficient robot movement on various contacting walls. The structure and the power system of the wall-climbing robot were designed. The dynamic performance of the robot was ideal when the inclination angle of the rotor was 60°, as determined by the traction force experiment of the robot in the horizontal state, according to the statics of the robot in different motion modes. The motion impact of a single-degree change in the rotor inclination angle of the robot was better than that of a doubling change in the rotor inclination angle, according to an experimental test in the actual operation process. The aerodynamic effectiveness of the propeller was considerably lowered due to the intricacy of the construction, according to experimental measurements of the robot’s adsorption force on horizontal and vertical walls. Finally, the stable adsorption ability of the robot on small slopes and vertical walls was verified by experiments.